@article{CHEB_2020_21_2_a22,
     author = {T. S. Ratiu and Nguyen Tien Zung},
     title = {Integrable systems in planar robotics},
     journal = {\v{C}eby\v{s}evskij sbornik},
     pages = {320--340},
     publisher = {mathdoc},
     volume = {21},
     number = {2},
     year = {2020},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/CHEB_2020_21_2_a22/}
}