Bruno Siciliano and Lorenzo Sciavicco, "Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing)," Springer
有本卓,『ロボットの力学と制御』朝倉書店
内山勝, 中村仁彦,『ロボットモーション』岩波書店
Roy Featherstone, "Rigid Body Dynamics Algorithms," Springer