1. A one or two sentence summary of the paper. 
   Present an analytical and hybird analytical numerical algorithms
   for solving inverse kinematics problems.

2. A one or two sentence description of the problem the paper is trying to solve. 
   Tries to deal with singularities and performance problems
   in using numerical algorithms 

3. A one of two sentence description of the method used to solve the problem. 
   Use analytical & hybird methods instead of numerical methods.

4. A list of short (approx one sentence) descriptions of the key ideas of the paper. 
   Describing a analytical and hybird method that is faster and more
   stable and mostly are repeatable.

5. A list of short (approx one sentence) descriptions of the contributions of the paper. 
   Shows a good method that enables to do limb manipulation in interactive
   systems in a more intuitive way.

6. Any questions that the paper raises for you. This might be some flaw
that they do not address, something that is unclear, some piece of
background knowledge that you don't have that would help you understand
the paper, ... 
   After finishing CS412, hopefully I'll have a better understanding about
   parts that describe problems about purely numerical methods.