This paper presents a motion-capture-based control framework for third-person view virtual reality applications. Using motion capture devices, a user can directly control the full body motion of an avatar in virtual environments. In addition, using a thirdperson view, in which the user watches himself as an avatar on the screen, the user can sense his own movements and interactions with other characters and objects visually. However, there are still a few fundamental problems. First, it is difficult to realize physical interactions from the environment to the avatar. Second, it is also difficult for the user to walk around virtual environments because the motion capture area is very small compared to the virtual environments. This paper proposes a novel framework to solve these problems. We propose a tracking control framework in which the avatar is controlled so as to track input motion from a motion capture device as well as system generated motion. When an impact is applied to the ...