Ko Ayusawa, Yoshihiko Nakamura. Fast inverse kinematics algorithm for large DOF system with decomposed gradient computation based on recursive formulation of equilibrium. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 3447-3452, IEEE, 2012. [doi]
Abstract is missing.