Reusing Motion Capture data to instruct Virtual Human is an effective way to improve the reality of Human Animation. However

there are gaps between captured motion clips

and motion transition.is used to fill them. This paper presents novel method to meet the kinematic and dynamic constraints that should be satisfied during transition. An analytical IK algorithm is adopted to solve the position constraints and an additional constraint

"Swivel angle" constraint

is added to guarantee the continuity of solution. Since the algorithm only need to search the feasible rangle of "Swivel angle"

it improves the precision of the solution and the computation efficiency. This paper also presents a simplified way to simulate balancing during transiton.To meet the balancing requirement during the motion transition

balance pose is computed at "key points" of transition with a BFGS nonlinear constraint optimizing algorithm

displacement mapping is then built and added to original transition motion sequence.