I recently signed up for an IEEE membership, which got me access to a few select journals, namely the IEEE Transactions on Robotics. Every now and then I go back and check out what new articles have been posted, and I thought I'd share one.
Sugihara, T. "Solvability-Unconcerned Inverse Kinematics by the Levenberg--Marquardt Method"
This is a very practical paper that compares a number of IK algorithms, providing a brief overview of each. For robot systems such as humanoids, we are always concerned with two problems: resolving redundancy and overcoming numerical instability due to singular matrices. This paper addresses the problem of numerical stability and speed. I highly recommend it to anyone studying such problems.
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