diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 2003dd7a5f..2ada31e1ed 100755
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -79,6 +79,8 @@ float DEFAULT_SCRIPTED_MOTOR_TIMESCALE = 1.0e6f;
 const int SCRIPTED_MOTOR_CAMERA_FRAME = 0;
 const int SCRIPTED_MOTOR_AVATAR_FRAME = 1;
 const int SCRIPTED_MOTOR_WORLD_FRAME = 2;
+const int SCRIPTED_MOTOR_SIMPLE_MODE = 0;
+const int SCRIPTED_MOTOR_DYNAMIC_MODE = 1;
 const QString& DEFAULT_AVATAR_COLLISION_SOUND_URL = "https://hifi-public.s3.amazonaws.com/sounds/Collisions-otherorganic/Body_Hits_Impact.wav";
 
 const float MyAvatar::ZOOM_MIN = 0.5f;
@@ -92,6 +94,7 @@ MyAvatar::MyAvatar(QThread* thread) :
     _pitchSpeed(PITCH_SPEED_DEFAULT),
     _scriptedMotorTimescale(DEFAULT_SCRIPTED_MOTOR_TIMESCALE),
     _scriptedMotorFrame(SCRIPTED_MOTOR_CAMERA_FRAME),
+    _scriptedMotorMode(SCRIPTED_MOTOR_SIMPLE_MODE),
     _motionBehaviors(AVATAR_MOTION_DEFAULTS),
     _characterController(this),
     _eyeContactTarget(LEFT_EYE),
@@ -1625,20 +1628,27 @@ controller::Pose MyAvatar::getControllerPoseInAvatarFrame(controller::Action act
 void MyAvatar::updateMotors() {
     _characterController.clearMotors();
     glm::quat motorRotation;
+
+    const float FLYING_MOTOR_TIMESCALE = 0.05f;
+    const float WALKING_MOTOR_TIMESCALE = 0.2f;
+    const float INVALID_MOTOR_TIMESCALE = 1.0e6f;
+
+    float horizontalMotorTimescale;
+    float verticalMotorTimescale;
+
+    if (_characterController.getState() == CharacterController::State::Hover ||
+            _characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
+        horizontalMotorTimescale = FLYING_MOTOR_TIMESCALE;
+        verticalMotorTimescale = FLYING_MOTOR_TIMESCALE;
+    } else {
+        horizontalMotorTimescale = WALKING_MOTOR_TIMESCALE;
+        verticalMotorTimescale = INVALID_MOTOR_TIMESCALE;
+    }
+
     if (_motionBehaviors & AVATAR_MOTION_ACTION_MOTOR_ENABLED) {
-
-        const float FLYING_MOTOR_TIMESCALE = 0.05f;
-        const float WALKING_MOTOR_TIMESCALE = 0.2f;
-        const float INVALID_MOTOR_TIMESCALE = 1.0e6f;
-
-        float horizontalMotorTimescale;
-        float verticalMotorTimescale;
-
         if (_characterController.getState() == CharacterController::State::Hover ||
                 _characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
             motorRotation = getMyHead()->getHeadOrientation();
-            horizontalMotorTimescale = FLYING_MOTOR_TIMESCALE;
-            verticalMotorTimescale = FLYING_MOTOR_TIMESCALE;
         } else {
             // non-hovering = walking: follow camera twist about vertical but not lift
             // we decompose camera's rotation and store the twist part in motorRotation
@@ -1649,8 +1659,6 @@ void MyAvatar::updateMotors() {
             glm::quat liftRotation;
             swingTwistDecomposition(headOrientation, Vectors::UNIT_Y, liftRotation, motorRotation);
             motorRotation = orientation * motorRotation;
-            horizontalMotorTimescale = WALKING_MOTOR_TIMESCALE;
-            verticalMotorTimescale = INVALID_MOTOR_TIMESCALE;
         }
 
         if (_isPushing || _isBraking || !_isBeingPushed) {
@@ -1670,7 +1678,12 @@ void MyAvatar::updateMotors() {
             // world-frame
             motorRotation = glm::quat();
         }
-        _characterController.addMotor(_scriptedMotorVelocity, motorRotation, _scriptedMotorTimescale);
+        if (_scriptedMotorMode == SCRIPTED_MOTOR_SIMPLE_MODE) {
+            _characterController.addMotor(_scriptedMotorVelocity, motorRotation, _scriptedMotorTimescale);
+        } else {
+            // dynamic mode
+            _characterController.addMotor(_scriptedMotorVelocity, motorRotation, horizontalMotorTimescale, verticalMotorTimescale);
+        }
     }
 
     // legacy support for 'MyAvatar::applyThrust()', which has always been implemented as a
@@ -1754,6 +1767,14 @@ QString MyAvatar::getScriptedMotorFrame() const {
     return frame;
 }
 
+QString MyAvatar::getScriptedMotorMode() const {
+    QString mode = "simple";
+    if (_scriptedMotorMode == SCRIPTED_MOTOR_DYNAMIC_MODE) {
+        mode = "dynamic";
+    }
+    return mode;
+}
+
 void MyAvatar::setScriptedMotorVelocity(const glm::vec3& velocity) {
     float MAX_SCRIPTED_MOTOR_SPEED = 500.0f;
     _scriptedMotorVelocity = velocity;
@@ -1780,6 +1801,14 @@ void MyAvatar::setScriptedMotorFrame(QString frame) {
     }
 }
 
+void MyAvatar::setScriptedMotorMode(QString mode) {
+    if (mode.toLower() == "simple") {
+        _scriptedMotorMode = SCRIPTED_MOTOR_SIMPLE_MODE;
+    } else if (mode.toLower() == "dynamic") {
+        _scriptedMotorMode = SCRIPTED_MOTOR_DYNAMIC_MODE;
+    }
+}
+
 void MyAvatar::clearScriptableSettings() {
     _scriptedMotorVelocity = Vectors::ZERO;
     _scriptedMotorTimescale = DEFAULT_SCRIPTED_MOTOR_TIMESCALE;
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index a62bc1a109..2615f8fa0f 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -69,6 +69,7 @@ class MyAvatar : public Avatar {
      * @property motorTimescale {float} Specifies how quickly the avatar should accelerate to meet the motorVelocity,
      *   smaller values will result in higher acceleration.
      * @property motorReferenceFrame {string} Reference frame of the motorVelocity, must be one of the following: "avatar", "camera", "world"
+     * @property motorMode {string} Type of scripted motor behavior, "simple" = use motorTimescale property (default mode) and "dynamic" = use action motor's timescales
      * @property collisionSoundURL {string} Specifies the sound to play when the avatar experiences a collision.
      *   You can provide a mono or stereo 16-bit WAV file running at either 24 Khz or 48 Khz.
      *   The latter is downsampled by the audio mixer, so all audio effectively plays back at a 24 Khz sample rate.
@@ -124,6 +125,7 @@ class MyAvatar : public Avatar {
     Q_PROPERTY(glm::vec3 motorVelocity READ getScriptedMotorVelocity WRITE setScriptedMotorVelocity)
     Q_PROPERTY(float motorTimescale READ getScriptedMotorTimescale WRITE setScriptedMotorTimescale)
     Q_PROPERTY(QString motorReferenceFrame READ getScriptedMotorFrame WRITE setScriptedMotorFrame)
+    Q_PROPERTY(QString motorMode READ getScriptedMotorMode WRITE setScriptedMotorMode)
     Q_PROPERTY(QString collisionSoundURL READ getCollisionSoundURL WRITE setCollisionSoundURL)
     Q_PROPERTY(AudioListenerMode audioListenerMode READ getAudioListenerMode WRITE setAudioListenerMode)
     Q_PROPERTY(glm::vec3 customListenPosition READ getCustomListenPosition WRITE setCustomListenPosition)
@@ -662,9 +664,11 @@ private:
     glm::vec3 getScriptedMotorVelocity() const { return _scriptedMotorVelocity; }
     float getScriptedMotorTimescale() const { return _scriptedMotorTimescale; }
     QString getScriptedMotorFrame() const;
+    QString getScriptedMotorMode() const;
     void setScriptedMotorVelocity(const glm::vec3& velocity);
     void setScriptedMotorTimescale(float timescale);
     void setScriptedMotorFrame(QString frame);
+    void setScriptedMotorMode(QString mode);
     virtual void attach(const QString& modelURL, const QString& jointName = QString(),
                         const glm::vec3& translation = glm::vec3(), const glm::quat& rotation = glm::quat(),
                         float scale = 1.0f, bool isSoft = false,
@@ -704,6 +708,7 @@ private:
     glm::vec3 _scriptedMotorVelocity; // target local-frame velocity of avatar (analog script)
     float _scriptedMotorTimescale; // timescale for avatar to achieve its target velocity
     int _scriptedMotorFrame;
+    int _scriptedMotorMode;
     quint32 _motionBehaviors;
     QString _collisionSoundURL;