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Synthesizing of human motion is one of the challenges in humanoid robotics research. Interested in the construction of humanoid service robots exhibiting human-like movements research is following different ways. This paper is going along with the idea of determining the principles of human motor control in order to understand the generation of human motion. A computational framework based on an efficient technique combining motion capture with multibody systems and optimal control theory for large-scale dynamic analysis and synthesis of motion is presented. Experiments were performed for human pointing gestures and the framework was validated computing the optimal trajectories of minimum hand jerk, modified minimum hand jerk, minimum angle jerk and minimum torque change.