# Real-Time Character Inverse Kinematics using the Gauss-Seidel Iterative Approximation Method

arXiv: https://arxiv.org/abs/2211.00330 · HTML: https://mlsanity.com/paper/2211.00330/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Nov 2022.

## Built on by (most cited first, 1 of 1)

- [JAX-IK: Real-Time Inverse Kinematics for Generating Multi-Constrained Movements of Virtual Human Characters](https://mlsanity.com/paper/2507.00792/) (2025)

## Abstract (arXiv)

We present a realistic, robust, and computationally fast method of solving highly non-linear inverse kinematic problems with angular limits using the Gauss-Seidel iterative method. Our method is ideally suited towards character based interactive applications such as games. To achieve interactive simulation speeds, numerous acceleration techniques are employed, including spatial coherent starting approximations and projected angular clamping. The method has been tested on a continuous range of poses for animated articulated characters and successfully performed in all cases and produced good visual outcomes.