1. O. Bottema and B. Roth (1979). Theoretical Kinematics. North-Holland Publishing Company,New York,1979.
2. An Mathematical Introduction to Robotic Manipulation;Murray,1994
3. Controllability and Motion Algorithms for Underactuated Lagrangian Systems on Lie Groups;Bullo;IEEE Transactions On Automatic Control,2000
4. F. Bullo and R.M. Murray (1995). Proportional derivative (PD) control on the Euclidean group, CDS Technical Report 95–010, 1995.
5. A Compact Differential Formula for the First Derivative of a Unit Quaternion Curve;Kim;Journal of Visualization and Computer Animation,1996