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The Inverse Kinematics (IK) algorithms implemented in the open-source Orocos Kinematics and Dynamics Library (KDL) are arguably the most widely-used generic IK solvers worldwide. However, KDL's only joint-limit-constrained IK implementation, a pseudoinverse Jacobian IK solver, repeatedly exhibits false-negative failures on various humanoid platforms. In order to find a better IK solver for generic manipulator chains, a variety of open-source, drop-in alternatives have been implemented anddoi:10.1109/humanoids.2015.7363472 dblp:conf/humanoids/BeesonA15 fatcat:6onpzmwtxfbsrmh62aqi7jtxou