@techreport{Aristidou:2009:TR632,
 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}
}