@article{ND_2015_11_1_a10,
     author = {Yury L. Karavaev and Alexander A. Kilin},
     title = {The dynamic of a spherical robot with an internal omniwheel platform},
     journal = {Russian journal of nonlinear dynamics},
     pages = {187--204},
     publisher = {mathdoc},
     volume = {11},
     number = {1},
     year = {2015},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2015_11_1_a10/}
}