# Inverse Kinematics in 3D

This tutorial will teach you how to master inverse kinematics in 3D: the technique that solves the problem of moving a robotic arm to reach for a specific target.

You can read the rest of this online course here:

A link to download the entire Unity package can be found at the end of this tutorial.

# Inverse Kinematics in 2D – Part 1

If you have been following this blog for a while, you might have noticed some recurring themes. Inverse Kinematics is definitely one them, and I have dedicated an entire series on how to apply it to robotic arms and tentacles. If you have not read them, do not fear: this new series will be self-contained, as it reviews the problem of Inverse Kinematics from a new perspective.

You can read the rest of this online course here:

A follow-up that focuses on 3D is also available:

# 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:

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:

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

# An Introduction to Gradient Descent

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:DistanceFromTarget

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

# 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:

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:

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

# An Introduction to Procedural Animations

This discussion introduces a new series about inverse kinematics for videogames. Before starting our journey, this post will show a few games that use procedural animations, and how they differ from traditional assets-based animations.

You can find all the other parts here:

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