Abstract: We present a novel, biomechanically-inspired, kinematic- based, example-driven walking synthesis model. Our model is ideally suited towards interactive applications such as games. It synthesizes motion interactively without a priori knowledge of the trajectory. The model is very efficient, producing foot-skate free, smooth motion over a large, continuous range of speeds and while turning, in as little as 5 $mu $s. We've formulated our model so that an artist has extensive control over how the walking gait manifests itself at all speeds.