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In this paper, we present a real-time method for motion retargeting between topologically different characters. An intermediate skeleton is used for setting correspondence between nodes of the source skeleton and the target skeleton. When animal-to-human motion retargeting is performed, segment lengths of the intermediate skeleton are adjusted to address the problem such as upper limbs unable to reach the ground. To get a satisfactory motion, an improved adaptation principle based on end effector constraints is introduced for eliminating undesirable phenomena.