Motion capture is widely used method of animation for generation realistic motions. This paper presents an animation algorithm for generating natural motions of human-like character by using minimal seven magnetic sensors. The feature of this method is that position and orientation information of a feature point of human body are applied to inverse kinematics, and orientation of joints is expressed with a normal vector of the feature point, consequently the motions of the entire human body can be animated with data of minimal sensors. The method can be implemented in simple motion-capturing environment even with personal computer, so it can be used to make low-cost multimedia application systems.