Korein, James UBadler, Norman I2023-05-222023-05-2219812016-01-05https://repository.upenn.edu/handle/20.500.14332/6979When motions of linkages such as the human body must be specified in terms of joint angle changes, considerable effort is required to acheive a particular goal. We review some techniques useful for the automatic generation of joint angle adjustments from a goal specified in terms of a world coordinate system.Computer EngineeringComputer SciencesReport