Focal Press has put out three of these guides to implementing classic Animation principles. One fore the free open-source Blender application, another for the commercial 3ds and this one for AutoDesk Maya.
It is not a standalone book. You will need to learn how to use Maya first and acquire a copy the program. There is a 30 trial version, but you'll never learn how to use Maya in 30 days, much less learn what's in this book and Maya is very, very expensive. The authors recommend you acquire a copy of "The Illusion Of Life, Disney Animation", in which two Disney animators outlined how to create the illusion of life in a series of drawings. Finally, you will need considerable artist skill.
In short, this is a book for a very limited audience.
But it is an excellent book indeed.
In 13 chapters and just more than 500 pages, with lots of illustrations, the authors demonstrate how to breathe life into animations. They not only discuss animating humans, but machines as well.
All the examples are downloadable and, as the authors advise, should be viewed concurrent with the reading of the book.
The treatment is exhaustive. If you are familiar with any 3D or animation program, much of the book will be understandable, but there is absolutely no doubt that his book is specific to Autodesk Maya.
The learning curve here is steep, so don't expect to polish this off in a weekend. The chapter on straight ahead Action, which covers hip rotation, torso counterbalance rotation and head counterbalance would keep a newcomer busy for several weeks to get the fine points down.
Overall, this is an excellent instructional manual for an extremely complex subject. Even if you don't plan to be an animator, learning the principles of animation will give you a greater appreciation for the genius of Disney, Pixar and other animation houses. If you want to experiment on your own, get a copy of the free Blender and the manual geared to it. It is by a different author, but also excellent.