Lifelike animation of object manipulation requires dynamic interaction between animated characters, objects,
and their environment. These interactions can be animated automatically with physically based simulations but
proper controls are needed to animate characters that move realistically and that accomplish tasks in spite of
unexpected disturbances. This paper describes an effcient control algorithm that generates realistic animations
by incorporating motion data into task execution. The end result is a versatile system for interactive animation of
dynamic manipulation tasks such as lifting, catching, and throwing.
