There was a discussion on this during the AI roundtables at GDC about the Assasins creed not using IK for pushing characters. Well, here’s the video to prove it DOES use IK. Clearly the arms are IK’d towards certain points on the character to be pushed. Interestingly the people touched then play a reactive “move backwards” animation which is where you find the oscillation going on here I think. Anyway, score +1!

Enjoy.