The External Authoring Interface Reference describes the standard for interfacing java to VRML. It is one of the useful references on the EAI Working Group site.

Details about the H-Anim proposal can be found at the VRML Humanoid Animation Working Group site.

A document titled Anthropometry for Computer Graphics Human Figures has a wealth of information on limb size, mass, etc.

Roddy's VRML site has a collection of VRML2 and java stuff.

You may need Cosmo software to view VRML2+java applications.

Using quaternions to represent rotation taught me all I needed to know about quaternions.