An analytical expression for the generalized forces in multibody Lagrange equations. - Patrick Kool (IEEE Trans. Robotics Autom., 2004)

A real-time joint trajectory planner for dynamic walking bipeds in the sagittal plane. - Jimmy Vermeulen; Björn Verrelst; Dirk Lefeber; Patrick Kool; Bram Vanderborght (Robotica, 2005)