1. Terms: Kinematics, Articulated figure, Degree of freedom, End effector, State vector;
2. Forward kinematics and Inverse kinematics;
3. Ease-in & ease-out curves;
4. Energy minimization & Momentum conservation;
5. Representing articulated figures:
a. DH notation;
b. Axis position joint representation;
6. Inverse Kinematics:
a. the Jacobian & construction;
b. Moving axis formula;
c. Numerical error, Singularities, Ill conditioning;
d. Apply Inverse kinematics to skeletons;
7. General forward kinematics system
8. Animation of legged figures
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