Abstract: Motion capture data has been widely used to make realistic animation. Especially, in physics-based character simulation, motion data provides plausible reference trajectory of the character. However, it requires post-processing of the unnatural motion data such as foot-skating and use specified controller with different parameters for each motion. Recent advancements in motion capture hardware such as Kinect allow us to obtain various motion data low-cost and easy way in real-time, but still it remains challenge to simulate unpredictable motion with common controller.