WASET
    H. Siswoyo Jo and  N. Mir-Nasiri and  E. Jayamani,  Design and Trajectory Planning of Bipedal Walking Robot with Minimum Sufficient Actuation System.   journal   = {International Journal of Mechanical and Mechatronics Engineering}, [online]. World Academy of Science, Engineering and Technology.
    November 2009, vol. 35(11). 1399 - 1405
    [viewed 16 April 2024]. Available from: https://publications.waset.org/pdf/1106.