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We introduce two methods for the inverse kinematics of multibodies with multiple end effectors. The first method clamps the… Expand This paper presents an inverse kinematics system based on a learned model of human poses. Given a set of constraints, our system… Expand This paper presents an inverse kinematics system based on a learned model of human poses. Given a set of constraints, our system… Expand This is a introduction to the Jacobian transpose method, the pseudoinverse method, and the damped least squares methods for… Expand Real-time control of the end-effector of a humanoid robot in external coordinates requires computationally efficient solutions of… Expand An articulated figure is often modeled as a set of rigid segments connected with joints. Its configuration can be altered by… Expand In this paper, we present an algorithm and implementation for efficient inverse kinematics for a general six-revolute (6R… Expand A new method for computing numerical solutions to the inverse kinematics problem of robotic manipulators is developed. The method… Expand Inverse kinematic solutions are used in manipulator controllers to determine corrective joint motions for errors in end-effector… Expand The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. A… Expand