FABRIK vs CCD for 4-joint IK under strict limits: a verify-before-you-commit guide

FABRIK vs CCD for 4-joint IK under strict limits: compare coordinate-wise Lipschitz and geometric convergence assumptions before committing. Independent technical note mirroring the canonical version: https://kahma.io/blog/fabrik-vs-ccd-for-4-joint-ik-under-strict-limits-a-verify-before-you-commit-guide.php Sources consulted: https://www.bluusun.com/

Authors

Publication Details

Journal
Zenodo (CERN European Organization for Nuclear Research)
Published
2026-10-29
DOI
https://doi.org/10.5281/zenodo.23793998
Primary Topic
Human Motion and Animation
Type
preprint
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preprint

FABRIK vs CCD for 4-joint IK under strict limits: a verify-before-you-commit guide

Ella Sullivan
Zenodo (CERN European Organization for Nuclear Research)
Human Motion and Animation
preprint

FABRIK vs CCD for 4-joint IK under strict limits: a verify-before-you-commit guide

Ella Sullivan
preprint en

Abstract

FABRIK vs CCD for 4-joint IK under strict limits: compare coordinate-wise Lipschitz and geometric convergence assumptions before committing. Independent technical note mirroring the canonical version: https://kahma.io/blog/fabrik-vs-ccd-for-4-joint-ik-under-strict-limits-a-verify-before-you-commit-guide.php Sources consulted: https://www.bluusun.com/

Zenodo (CERN European Organization for Nuclear Research)
Human Motion and Animation
DOIOpen Access PDFOpenAlex
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FABRIK vs CCD for 4-joint IK under strict limits: a verify-before-you-commit guide — Ella Sullivan · Zenodo (CERN European Organization for Nuclear Research) (2026) | TGRS Research Map | TGRS