This post concludes the theoretical introduction to **Inverse Kinematics**, providing a programmatical solution based on **gradient descent**. This article does not aim to be a comprehensive guide on the topic, but a gentle introduction. The next post, Inverse Kinematics for Robotic Arms, will show an actual C# implementation of this algorithm in with Unity.

The other post in this series can be found here:

- Part 1. An Introduction to Procedural Animations
- Part 2. The Mathematics of Forward Kinematics
- Part 3. Implementing Forward Kinematics
- Part 4.
**An Introduction to Gradient Descent** - Part 5. Inverse Kinematics for Robotic Arms
- Part 6. Inverse Kinematics for Tentacles
- Part 7. Inverse Kinematics for Spider Legs

At the end of this post you can find a link to download all the assets and scenes necessary to replicate this tutorial.