1. David Baraff. Linear-time dynamics using lagrange multipliers. In SIGGRAPH 96 Conference Proceedings,Computer Graphics Proceedings, Annual Conference Series, pages 137–146. ACM SIGGRAPH, Addison Wesley, August 1996. ISBN 0–201-94800–1.
2. Armin Bruderlin and Thomas Calvert. Goal-Directed, Dynamic Animation of Human Walking. Computer Graphics, July 1989. Proceedings of SIGGRAPH’89.
3. Armin Bruderlin and Thomas Calvert. Interactive Animation of Personalized Human Locomotion. Proceedings of Graphics Interface’93.
4. F. Barbier, P. Loslever, and J-C. Angue. Méthode informatisée de mesure et d’analyse des forces de réaction et des angles articulaires de la marche normale. Innov. Tech. Biol. Med., 15(4):453–460, 1994.
5. Ronan Boulic and Ramon Mas. Inverse kinetics for center of mass position control and posture optimization. Technical report, Ecole Polytechnique Fédérale de Lausanne, September 1994.