  We present a novel approach for solving articulated inverse kinematic
problems (e.g., character structures) by means of an iterative dual-quaternion
and exponentialmapping approach. As dual-quaternions are a break from the norm
and offer a straightforward and computationally efficient technique for
representing kinematic transforms (i.e., position and translation).
Dual-quaternions are capable of represent both translation and rotation in a
unified state space variable with its own set of algebraic equations for
concatenation and manipulation. Hence, an articulated structure can be
represented by a set of dual-quaternion transforms, which we can manipulate
using inverse kinematics (IK) to accomplish specific goals (e.g., moving
end-effectors towards targets). We use the projected Gauss-Seidel iterative
method to solve the IK problem with joint limits. Our approach is flexible and
robust enough for use in interactive applications, such as games. We use
numerical examples to demonstrate our approach, which performed successfully in
all our test cases and produced pleasing visual results.
