Mukai, TomohikoTaketomi, TakafumiMusialski, PrzemyslawLim, Isaak2026-04-202026-04-202026978-3-03868-299-82309-5059https://diglib.eg.org/handle/10.2312/egs20261002https://diglib.eg.org/handle/10.2312/egs20261002This paper presents a kinematics-based method for removing penetration in skinned models based on skeleton subspace deformation. The penetration removal process is formulated as a multi-target inverse kinematics problem, in which penetrated vertices are offset by adjusting the skeletal pose. To ensure numerical stability, penetrated vertices are dynamically clustered based on deformation gradient similarity, reducing the dimensionality of the IK optimization. Experimental results demonstrate that the proposed method robustly eliminates complex penetration in articulated models while achieving interactive performance.CC-BY-4.0AnimationComputer Graphics10.2312/egs.202610024 pages