1- Dynamics of Machines, Published in Persian by K. N. Toosi University of Technology, May 2005.
2- Dynamics of Machines, Second Edition, February 2008.
3- 'Dynamics, Motion Planning and Control of Wheel-Legged Robots for Superior Field Navigations,' Edited Book Chapter in Robot Vision: Strategies, Algorithms and Motion Planning, Nova Science Publishers Inc., ISBN: 978-1-60692-091-6, Hauppauge, New York, USA, 2009.
4- Kinematic Synthesis of Mechanisms and Robotic Arms, Published in Persian by K. N. Toosi University of Technology, Tehran, Iran, March 2010.
