Game Programming Math: Inverse Kinematics

The Jacobian Transpose Method for Inverse Kinematics

Marco Spoerl (KMW) Game Programming Gems 4

Constrained Inverse Kinematics

Jason Weber (Intel) Game Programming Gems 3

Resolution of the Inverse Kinematic of an Articulated Structure Using the Jacobian Pseudo-Inverse

Juan M. Cordero and Javier Matellanes (University of Seville) Graphics Programming Methods