This paper presents an interface for choreographing human and animal characters without reference motion. Its basic function is to enable animators to generate a natural motion clip by dragging a link to an arbitrary position with any number of links pinned in the global frame as well as other constraints such as desired joint angles and joint motion ranges. Each constraint can be switched on or off, strengthened or weakened for each joint at users' will. The interface is based on a new online inverse kinematics technique that allows more flexible attachment of pins and various types of constraints. Although the basic method can create natural motions from scratch, editing or retargetting captured motion requires only a small modification to the original method. We also demonstrate the powerfulness and usability of the proposed method by a number of example motion clips. The same methodology can be applied to flexible and intuitive manipulation of humanoid robots with large degrees of freedom in real time.