Ching-long Shih, William A. Gruver, Tsu-Tian Lee. Inverse kinematics and inverse dynamics for control of a biped walking machine. J. Field Robotics, 10(4):531-555, 1993. [doi]
@article{ShihGL93,
title = {Inverse kinematics and inverse dynamics for control of a biped walking machine},
author = {Ching-long Shih and William A. Gruver and Tsu-Tian Lee},
year = {1993},
doi = {10.1002/rob.4620100408},
url = {http://dx.doi.org/10.1002/rob.4620100408},
researchr = {https://researchr.org/publication/ShihGL93},
cites = {0},
citedby = {0},
journal = {J. Field Robotics},
volume = {10},
number = {4},
pages = {531-555},
}