In this study, an angle-time-based motion modification method was developed. This method allows the use of existing motion data by modifying them to fit new scenarios given as new initial and final posture constraints. The motion modification method can generalize an existing motion data and derive, within a portion of space, a family of motions retaining the angular velocity characteristics of the original motion. It was found that the proposed method is capable of predicting realistic human motions with various new initial and final posture constraints in a robust manner. We expect that this motion modification method provides a way of using existing motion data more flexibly and economically.