Abstract: Various forms of art and entertainment involve many different characters, and advances in human interfaces have necessitated physical interactions in order to develop an improved sense of reality. In this paper we propose a method for generating the motions of characters using multidimensional keyframe animation in parallel with real-time physical simulation. The method generates characters capable of physical interaction, and also allows animators to use traditional methods for designing character motion. We have implemented the system and confirmed its effectiveness experimentally.