@article{article8bb39051,
title   = {Kinematical modeling and optimal design of a biped robot joint parallel linkage},
author = {Menegaldo, Luciano Luporini and Santana, Rogério Eduardo Silva and Fleury, Agenor de Toledo},
year = {2006},
doi = {10.1590/s1678-58782006000400016},
journal   = {Journal of the Brazilian Society of Mechanical Sciences and Engineering}
}