"Dynamics"@en . "Contact planning"@en . "Relationship descriptors"@en . "EFORT"@en . "Kinematics"@en . "Real-time animation"@en . "Komura" . "Real-time controller design"@en . . "Virtual human"@en . "Taku" . . . "Animation"@en . "Taku Komura" . "b6abe8ff6889eaaf1af252621cb5bc93" . "Inverse kinematics"@en . "Motion editing"@en .