1. Ramon, J., Camarillo, K., Monsiváis, J., Castillo, G., Pérez, G.I., Pámanes, J.: Kinematic Modeling of a Humanoid Soccer–Player: Applied to BIOLOID Premium Type A Robot, vol. 376, pp. 49–63, Springer (2013)
2. Andaluz, V., Sanchez, D., Bucay, C., Sanchez, C., Morales, V., Rivas, D.: Nonlinear controller of arachnid mechanism based on theo jansen, vol. 9979, pp. 328–339. Springer (2016)
3. Barrietos, A., Peñin, F., Baleguer, C., Aracil, R.: Fundamentos de Robótica. S.A MCGraw-Hill, España (2007)
4. Chevallereau, C., Bessonnet, G., Abba, G., Aoustin, Y.: Bipedal Robots. Wiley ISTE, Great Britain (2009)
5. Paladines, R.: Direct and inverse kinematic model for the legs of the humanoid robot Bioloid Premium. Final career work, Faculty of Engineering in Mechanics and Production Sciences, ESPOL, Guayaquil (2015)