@article{ND_2012_8_2_a5,
     author = {A. V. Borisov and A. A. Kilin and I. S. Mamaev},
     title = {How to control the {Chaplygin} sphere using rotors},
     journal = {Russian journal of nonlinear dynamics},
     pages = {289--307},
     publisher = {mathdoc},
     volume = {8},
     number = {2},
     year = {2012},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2012_8_2_a5/}
}