I want to add to Lubos answer and give some old and new references on the classical representation of spinning particles. In addition, I'll try to explain, the main idea of the construction.
The classical description of spin by means of Grassmann variables was introduced by F.A. Berezin and M.S. Marinov (for the nonrelativistic case) in: F. A. Berezin and M. S. Marinov, Classical spin and Grassmann algebra, Sov. Phys. JETP Lett. 21 (1975) 320-321. (This article can be found in Prof. Marinov memorial page).
Later, this work was extended to the relativistic case in: F.A.Berezin and M. S. Marinov, Particle spin dynamics as the Grassmann variant of classical mechanics, Ann. Phys. (NY) 104 (1977) 336-362. (Here is the version of this article).
The relativistic Lagrangian is given in this paper is in the arc length (square root) form.
I'll try to briefly explain the logic behind their construction:
The translational phase space is parameterized by the position $q_i$ and momentum $p_j$ coordinates which are:
- Commuting as functions on the phase space $q_jq_i=q_iq_j, p_jq_i=q_ip_j, p_jp_i=p_ip_j$
- Satisfying the canonical commutation relation: $ \{q_i,q_j\} =0, \{p_i,p_j\} =0, \{q_i,p_j\} = \delta_{ij}$
- Their quantization operators satisfy, (the Weyl algebra) commutaion relation $[\hat{q}_i,\hat{p}_j] = i \hbar \hat{1} \delta_{ij}$.
In analogy, the spin phase space is parameterized by the Grassmann variables $\xi_i$, which are:
- Anti-commuting as functions on the phase space $\xi_j\xi_i=-\xi_i\xi_j$
- Satisfying the commutation relation: $ \{\xi_i,\xi_j\} = \frac{1}{2i}\delta_{ij}$
- Their quantization operators satisfy, (the clifford algebra) commutaion relation $[\hat{\xi}_i,\hat{\xi}_j] = \frac{\hbar}{2} \delta_{ij}$.
Thus, the main idea is that as the Weyl algebra is the quantization of the classical translational phase space, the Clifford algebra is the quantization of the classical spin phase space.
As known from the theory of Clifford algebras, the spin generators are the bivectors in the basic
Clifford generators, for example in the three dimensional case:
$\hat{S}_i = i \epsilon_{ijk} \hat{\xi}_j\hat{\xi}_k$.
In the infinite dimensional case, one obtains, the usual the canonical anti-commutation algebra (CAR).
A review article by Andrzej Frydryszak of the Berezin-marinov model can be found in: LAGRANGIAN MODELS OF PARTICLES WITH SPIN: THE FIRST SEVENTY YEARS
It should be mentioned that the Berezin-Marinov model describes only spin $\frac{1}{2}$ particles.
(This property is desirable from a quantization theory, because it results an
irreducible representation of the operator algebra). In order to describe photons, one should add additional noncommuting coordinates to the phase space, See for example the following solution by : Gitman and Goncalves
Finally, the Berezin-Marinov construction is a prototype geometric quantization model of
a phase space which is symplectic superspace, namely the supercotangent bundle of the bosonic phase space.
The following article: Conformal geometry of the supercotangent and spinor bundles:
by J.P. Michel describes the model from this point of view and its generalization to
the non-flat case, where the configuration space is a Riemannian manifold. Here, the quantization of the supercotangent bundle
of a spin manifold is its spinor bundle.