Dealing With The Ill-Conditioned Equations Of Motion For Articulated
Figures

A one or two sentence summary of the paper.

This paper describes methods for assessing and solving ill-conditioned
equations of motion in articulated figures

A one or two sentence description of the problem the paper is trying to
solve.

The problem for this paper is the inverse kinematics problem: given an
output position, determining the set of joint rotations necessary to
achieve that position.

A one of two sentence description of the method used to solve the
problem.

The damped least-squares formulation is used

A list of short (approx one sentence) descriptions of the key ideas of
the paper.

This paper describes problems with using pseudoinverse solutions to solve
ill-conditioned systems of motion and proposes the damped least-squares
formulation as a method of alleviating them.

A list of short (approx one sentence) descriptions of the contributions
of the paper.

This paper showed how to use singular value analysis to analyze the
problems, presented problems in pseudoinverse solutions, and proposed the
damped least-squares formulation.