@article{ND_2013_9_2_a0,
     author = {Alexey V. Borisov and Ivan S. Mamaev and Ivan A. Bizyaev},
     title = {The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere},
     journal = {Russian journal of nonlinear dynamics},
     pages = {141--202},
     publisher = {mathdoc},
     volume = {9},
     number = {2},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2013_9_2_a0/}
}