The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits… Nevertheless, the animation and control processes of such manikins are very painful. It takes days to a specialist to build such animated sequences, and it is not adaptive to any type of modifications. Our main purpose is the virtual human for engineering, especially virtual prototyping. As for this domain of activity, such amounts of time are pro-hibitive. We focus our work on interactive virtual human enabling to drive avatars in real time thanks to motion capture devices. Unfortunately, at the moment the quality of the animations produced is far from the quality obtained by artists in the computer graphics area. We aim at filling the gap. Thus we proposed the architecture given, which distinguishes, and splits the simulation from the control itself. This architecture, which we introduced in, is innovative for the virtual reality domain, and was borrowed from robotics. Global scheme of our system Many problems must be solved to succeed in. All the problems arise because of the dif-ference between the real world, and the simulated world. This divergence takes two main shapes: the difference in terms of the hu-man, and the difference in terms of the environment of both worlds.

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In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environ-ments, by motion capture. It brings decoupling of functionalities, and also of stability thanks to passivity. We show projections can break passivity, and thus must be used carefully. Our control scheme enables task space and internal control, contact, and joint limits management. Thanks to passivity, it can be easily extended. Besides, we introduce a new tool as for manikin’s control, which makes it able to build passive projections, so as to guide the virtual manikin when sharp movements are needed.

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