1. (2001). Analytical configuration of wheeled robotic locomotion. Unpublished Ph.D. thesis, The Robotics Institute, Carnegie Melon University, Pittsburgh, PA.
2. , & (2005). Development of a dynamic simulation tool for the ExoMars rover. Paper presented at the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Munich, Germany.
3. SPIE Proc. Vo;Baumgartner,2001
4. Design-Simulation. Working model 2D, http://www.design-simulation.com/WM2D/
5. (1917). Getriebelehre: Eine theorie des zwanglaufes und der ebenen mechanismen. Berlin: Springer.