1. Okhotsimsky, D.E., Golubev, Yu.F.: Mechanics and motion control of an automatic walking apparatus. Nauka, Moscow (1984). (in Russian: Mekhanika i upravleniye dvizheniyem avtomaticheskogo shagayushchego apparata)
2. Okhotsimsky, D.E., Platonov, A.K., Kirilchenko, A.A., Lapshin, V.V.: Walking machines: preprint. IPM of the USSR Academy of Sciences, No. 87, Moscow (1989). (in Russian: Shagayushchiye mashiny: preprint)
3. Larin, V.B.: Control of a walking apparatus. Naukova dumka, Kiev (1980). (in Russian: Upravleniye shagayushchim apparatom)
4. Lapshin, V.V.: Mechanics and motion control of walking machines. Publishing house of Bauman Moscow State Technical University, Moscow (2012). (in Russian: Mekhanika i upravleniye dvizheniyem shagayushchikh mashin)
5. Pavlovsky, V.E.: On the development of walking machines: preprint. IPM RAS, No. 101, Moscow (2013). (in Russian: O razrabotkakh shagayushchikh mashin: preprint)