Sudheer, A.P., R. Vijayakumar, and K.P. Mohandas. 2012. “Stable Gait Synthesis and Analysis of a 12-Degree of Freedom Biped Robot in Sagittal and Frontal Planes”,. Journal of Automation, Mobile Robotics and Intelligent Systems 6 (4): 36-44. https://jamris.d.tomp.pl/index.php/JAMRIS/article/view/244.