@article{ND_2013_9_3_a7,
     author = {Tatyana B. Ivanova and Elena N. Pivovarova},
     title = {Dynamics and control of a spherical robot with an axisymmetric pendulum actuator},
     journal = {Russian journal of nonlinear dynamics},
     pages = {507--520},
     publisher = {mathdoc},
     volume = {9},
     number = {3},
     year = {2013},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2013_9_3_a7/}
}