1. Buss, Samuel R.: Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods, Department of Mathematics University of California, San Diego La Jolla, 2004
2. Grepl, R.: Simulating modelling of quadruped robot gait control, Journal Engineering Mechanics, Volume 12, Nr. 4, ISSN 1210-2717, 2005
3. Grepl, R.: Virtual prototype of autonomous locomotion walking robot, Simulation modelling of mechatronic systems I, ISSN 80-214-3144-X, pp. 29–37, 2005