1. Hugel, V.: On the Control of Legged Locomotion Applied to Hexapod and Quadruped Prototypes, PhD Thesis (in French), Université de Paris VI (November1999)
2. Hensgt, B., Ibbotson, D., Bao Pham, S., Sammut, C.:The UNSW United 2000 Sony Legged Robot Software System, School of Computer Science and Engineering, University of New South Wales RoboCup SONY legged league report (2000)
3. Veloso, M., Lenser, S., Vail, D., Roth, M., Stroupe, A., Chernova, S.: CMPack 2002: CMU’s Legged Robot Soccer Team, Carnegie Mellon University, 2002 RoboCup SONY legged league report (2002)
4. Upenn, IROS 2001 Hawai. Chitta, S., OStrowski, J.P.: New Insights into Quasistatic and Dynamic Omnidirectional Quadrupedal Walking, IROS (2001)