1. Beck L. Most famous robots (the humanoid robot), (2009).
2. Brogliato B. Nonsmooth Impact Dynamics: Models, Dynamics and Control. London U.K.: Springer-Verlag; 1996.
3. Some perspectives on the analysis and control of complementarity systems;Brogliato;IEEE Trans Autom Control,2003
4. Modeling stability and control of biped robots-a general framework;Hurmuzlua;Automatica,2004
5. Bourgeot JM. Contribution á la commande de systémes mécaniques non-réguliers, Thesis, INRIA Rhone-Alpes (2004).