Abstract: This paper explores the many uses of angular momentum regulation and its role in the synthesis of coordinated motion generated with physically based characters. Previous investigations in biomechanics, robotics, and animation are discussed and a straightforward organization is described for distinguishing the needs and control approaches of various behaviors including stepping, walking and standing balance. Emphasis is placed on creating robust response to large disturbances as well as on the types of characteristic movements that can be generated through the control of angular momentum.