Credit is due Jeff Lander for his articles in Game Developer Magazine
which pointed me to the primary sources referred to in this
You might also be interested in his presentation at the 2000 Game
Developers Conference entitled
"Using Technology to Create Believable 3D Characters",
which covers IK and other real-time character animation issues.
That one's pretty minimal on details, though.
- "Oh My God, I Inverted Kine," Game Developer, September 1998
- "Making Kine More Flexible," Game Developer, November 1998