Boulic, RonanKulpa, RichardKarol Myszkowski and Vlastimil Havran2015-07-142015-07-142007https://doi.org/10.2312/egt.20071063The present tutorial deals with the use of inverse kinematics and kinetics for postural adaptations of virtual hu- manoids to different kind of constraints. It first proposes an overview of the problematic of this thematic and then of the existing techniques. Then it technically describes two key approaches: the prioritized inverse kinematics for accurate and realistic adaptation and a CCD-like algorithm based on groups for fast and realistic adaptation of hundreds of characters in real-time.10.2312/egt.20071063173-243