F. Ansarieshlaghi, and P. Eberhard. ICINCO 2020 : Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics, page 394-401. Setúbal, SciTePress, (2020)
M. Baumann, A. Vasilyev, T. Stykel, and P. Eberhard. Proceedings of the institution of mechanical engineers. Part K, Journal of multi-body dynamics, 231 (1):
48-56(2017)