Abstract: We present in the paper a hybrid method for motion editing combining motion blending and Jacobian-based inverse kinematics (IK). When the original constraints are changed, a blending-based IK solver is first employed to find an adequate joint configuration coarsely. Using linear motion blending, this search corresponds to a gradient-based minimization in the weight space. The found solution is then improved by a Jacobian-based IK solver by further minimizing the distance between the end effectors and constraints. To accelerate the searching in the weight space, we introduce a weight map, which pre-computes the good starting positions for the gradient-based minimization. The advantages of our approach are threefold: first, more realistic motions can be generated by utilizing motion blending techniques, compared with pure Jacobian-based IK. The blended results also increase the rate of convergence of the Jacobian-based IK solver. Second, the Jacobian-based IK solver modifies poses in the pose configuration space and the computational cost does not scale with the number of examples. Third, it is possible to extrapolate the given example motions with a Jacobian-based IK solver, while it is generally difficult with pure blending-based techniques. Copyright 2014 John Wiley & Sons, Ltd.