Articulated figure motion is becoming increasingly important for real-time computer graphics. A common approach is to store a set of motions and choose one particular motion. This article describes a way to obtain a greatly expanded range of possible motions by "mixing" motions selected from a stored database to exact specifications. The synthesized motion retains the subtle qualities of the original motions, such as the realism of motion capture data or the expressive exaggerated qualities of artistic animation. This method provides a new way to achieve inverse kinematic capability by placing the hands or feet of an articulated figure in specific positions. It is useful for both real-time graphics and prerendered animation production.