Inverse Kinematics Essentials

I have read a lot of books on this subject and this is the clearest.

I was looking for something that would bridge the gap between tutorials and proper reference material, and this does that well. The balance between theory and practice is well judged; neither side dominates. The early chapters move quickly through material I already knew, but the later sections were genuinely new to me. One of those books that pays for itself within the first few chapters. Highly recommended.

Not quite what I expected from the description, but there is material here.

A colleague recommended this and I can see why. It does something that few technical books manage: it respects the reader's time. Some of the diagrams are dense and I had to reread a few sections, though that may just be me. Some of the material is available elsewhere, but rarely presented this clearly. Some of the diagrams are dense and I had to reread a few sections, though that may just be me. Fine, but there are stronger books on the same subject if you look around.