@article{ND_2014_10_4_a8,
     author = {Alexander A. Kilin and Yury L. Karavaev},
     title = {The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform},
     journal = {Russian journal of nonlinear dynamics},
     pages = {497--511},
     publisher = {mathdoc},
     volume = {10},
     number = {4},
     year = {2014},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2014_10_4_a8/}
}