# A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots With Kinematic Loops

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 13× · AI/ML

**Wikidata**: [openalex:W3127385145](https://www.wikidata.org/wiki/openalex:W3127385145)  
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