1. Duindam, V. (2006). Port-based modeling and control for efficient bipedal walking robots. Ph.D. thesis, University of Twente.
2. Duindam, V., & Stramigioli, S. (2007). Lagrangian dynamics of open multibody systems with generalized holonomic and nonholonomic joints. In Proceedings of the IEEE/RSJ international conference on intelligent robots and systems, San Diego, CA, USA (pp. 3342–3347).
3. Duindam, V., & Stramigioli, S. (2008). Singularity-free dynamic equations of open-chain mechanisms with general holonomic and nonholonomic joints. IEEE Transactions on Robotics, 24(3), 517–526.
4. Fossen, T. I. (2002). Marine control systems. Trondheim: Marine Cybernetics AS. 3rd printing.
5. From, P. J. (2012a). An explicit formulation of singularity-free dynamic equations of mechanical systems in Lagrangian form—part one: single rigid bodies. Modeling, Identification and Control, 33(2), 45–60.