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    Categories and Subject Descriptors (according to ACM CCS): Computer Graphics [I.3.7]: Animation - Computer Graphics [I.3.5]: Physically based modeling - Numerical Analysis [G.1.6]: Constrained Optimization - Numerical Analysis [G.1.6]: Nonlinear Programming - Image Processing and Computer Vision [I.4.6]: Scene Analysis - Probability and Statistics [G.3]: Markov processes - Keywords: Inverse Kinematics, Nonlinear, Joint Limits, Constraints, Motion Estimation (1)