%0 Journal Article
%A Yury L. Karavaev
%A Alexander A. Kilin
%T The dynamic of a spherical robot with an internal omniwheel platform
%J Russian journal of nonlinear dynamics
%D 2015
%P 187-204
%V 11
%N 1
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2015_11_1_a10/
%G ru
%F ND_2015_11_1_a10