The topic of this paper was computer puppetry, or animation of virtual characters in real time.  The virtual puppets have 2 major differences that cause them to stand out from other motion capture animation are:
 - They must be animated in real-times, expensive processing is unnacceptable
 - They have different size and proportions from the performer in many cases

 Key Ideas
  - filter noise in a manner that is fast and efficient
  - find the important and unimportant aspects of the motion and use these with a real-time inverse kinematic solver to compute the position and orientation based on what is important - this is which end effectors are involved in interaction with the environment. 
  
Contributions
 - method for determining importance and incorporating it into the inverse kinematics solver