1. Grepl, R., Zezula, P.: Modelling of kinematics of biped robot, Dynamics of machines 2006, ISBN 80-85918-97-8, 2006
2. Zezula, P., Grepl, R.: Optimization and design of experimental bipedal robot, Journal Engeneering Mechanics, Volume 12, Nr. 4, ISSN 1210-2717, 2005
3. Zezula, P., Grepl, R.: Construction design and stability control of humanoid robot, Dynamics of machines 2006, ISBN 80-85918-97-8, 2006
4. Y. Tagawa, T. Yamashita, “Analysis of human abnormal walking using zero moment joint”, 2000