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Kwek, L.C. and Kang, C.C. and Loo, C.K. and Wong, E.K. (2005) Implementation of evolutionary active force control in a 5-link biped robot. Intelligent Automation and Soft Computing, 11 (3). pp. 167-178. ISSN 1079-8587,
Kwek, L.C. and Wong, E.K. and Loo, C.K. and Rao, M.V.C. (2003) Application of active force control and iterative learning in a 5-link biped robot. Journal of Intelligent & Robotic Systems, 37 (2). pp. 143-162.