A little old, but still one of the best resources for humanoid control: http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page http://www.cds.caltech.ed

A little old, but still one of the best resources for humanoid control: http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Page http://www.cds.caltech.edu/~murray/mlswiki/index.php/Main_Pa... It has a chapter on closed-form IK for simple structures, and one on Jacobian transpose control.