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Blender for robotics and robotics for Blender

Computer animation and robotics have most of their mathematical foundations in common. So, Blender is a natural (but still undiscovered and imperfect) GUI candidate for robot simulation and programming. The robotics research community lacks an advanced graphical tool such as Blender, but, on the other hand, it has more advanced and efficient algorithms than Blender for the physically realistic simulation of armatures. For example, the inverse kinematis of humanoid structures, taking into account their dynamics, and with a generic approach for the automatic generation of natural motions. In this paper, I make concrete suggestions about additions to the Blender code base, in order to support these complex armatures and IPO’s. My suggestions touch the following parts of Blender: moto (Motion Toolkit), gameengine, and (especially) iksolver.