A technique for solving an inverse-kinematic problem by interpolating solutions
from examples. Example poses or motions of an object are collected and annotated.
The annotations are essentially parameters for a function—i.e., the function
X(p) generates degree-of-freedom values of an object that is posed in a manner
that satisfies parameters p. The analytic function X is interpolated from these
examples and improved automatically based on kinematic measurements. Preferably,
the interpolation is created by taking a weighted sum of cardinal basis functions
having linear and radial parts, Preferably, the interpolation is a weighted sum
of cardinal basis functions having linear and radial portions.