Jack provides a 3D interactive environment for controlling articulated figures. It features a detailed human model and includes realistic behavioral controls, anthropometric scaling, task animation and evaluation systems, view analysis, automatic reach and grasp, collision detection and avoidance, and many other useful tools for a wide range of applications.

To obtain a copy of the Jack software, see http://www.ugs.com/products/efactory/jack/
 
 

Inverse Kinematics using ANalytical Methods (IKAN) is a complete set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg.

IKAN uses a combination of analytic and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints.  The combination of analytic and numerical methods results in faster and more reliable algorithms than conventioal inverse jacobian and optimization based techniques.  

IKAN allows the user to interactively explore all possible solutions using an intuitive set of parameters that define the redundancy of the system.

To obtain a copy of the IKAN software, see http://hms.upenn.edu/software/ik/ik.html