Summary: One of the most common tasks in computer animation is inverse-kinematics, or determining ajoint configuration required to place a particular part of an articalated character at a particular location in global space. Inversekinematics is required at design-time to assist artists using commercial 3D animation packages, for motion capture analysis, and for run-time applications such as games. We present an efficient inverse-kinematics methodology based on the interpolation of example motions and positions. The technique is demonstrated on a number of inverse-kinematics positioning tasks for a human figure. In addition to simple positioning tasks, the method provides complete motion sequences that satisfy an inverse-kinematic goal. The interpolation at the heart of the algorithm allows an artist’s influence to play a major role in ensuring that the system always generates plausible results. Due to the lightweight nature of the algorithm, we can position a character at extremely highframe rates, making the technique useful for time-critical run-time applications such as games.