You can read the rest of this online course here:

# c#

There are 22 posts filed in **c#** ( this is page **1** of **5**).

# Inverse Kinematics for Tentacles

This post continues our journey in the depth of Inverse Kinematics. In this tutorial you will learn how to apply this powerful technique to create realistic tentacles.

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.

# Inverse Kinematics for Robotic Arms

After a long journey about the Mathematics of Forward Kinematics and the geometrical details of gradient descent, we are ready to finally show a working implementation for the problem of inverse kinematics. This tutorial will show how it can be applied to a robotic arm, like the one in the image below.

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. Continue reading

# Implementing Forward Kinematics

This tutorial continues our quest to solve the problem of **forward kinematics**. After exploring a mathematical solution in The Mathematics of Forward Kinematics, we will see how to translate it into C# for Unity. The next tutorial, An Introduction to Gradient Descent, will finally show the theoretical foundations to solve **inverse kinematics**.

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.

# The Mathematics of Forward Kinematics

This tutorial starts our journey into the world of **inverse kinematics**. There are countless ways to approach this problem, but they all starts with **forward kinematics**.

Inverse kinematics takes a point in space, and tells you how to move your arm to reach it. Forward kinematics solves the opposite, *dual* problem. Knowing how you are moving your arm, it tells which point in space it reaches.

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.