1. J. Angeles, Fundamentals of Robotic Mechanical Systems (Springer, New York, 2003)
2. H. Brandl, R. Johanni, M. Otter, A very efficient algorithm for the simulation of robots and similar multibody systems without inversion of the mass matrix, in Proceedings of the IFAC International Symposium on Theory of Robots, 1986, pp. 365–370
3. H. Bremer, Elastic Multibody Dynamics: A Direct Ritz Approach (Springer, Berlin, 2008)
4. H. Bremer, F. Pfeiffer, Elastische Mehrkörpersysteme (Teubner Studienbücher, Stuttgart, 1992)
5. T. Buschmann, S. Lohmeier, H. Ulbrich, F. Pfeiffer, Modeling and simulation of a biped robot, in Proceedings of the 2006 IEEE International Conference of Intelligent Robots and Systems, May 2006