### Summary
This paper examines the problem of "footskate" in motion capture, and suggests a method to resolve the problem.
### Problem
Footskate occurs when a characters feet move when they ought to remain planted; a walking motion becomes ice-skating.
### Methods Used
1.  Determine a position for each footplant
2.  Set the foot to satisfy the footplant
3.  Calculate the root placement
4.  Adjust the leg to satisfy both the root placement and footplant, avoiding sharp orientation changes
5.  Smooth out adjustments
### Key Ideas
This paper introduces the above method for enforcing footplants, and suggests that bone length can be modified slightly to smooth out sharp orientation changes without harming the original motion