@techreport{AristidouTR632,
  author      = {Aristidou, Andreas and Lasenby, Joan},
  title       = {Inverse Kinematics: a review of existing techniques and introduction of a new fast iterative solver},
  institution = {Department of Information Engineering, University of Cambridge},
  number      = {CUEDF-INFENG, TR-632},
  month       = {September},
  year        = {2009}
}