@article{ND_2022_18_4_a15,
     author = {Yu. L. Karavaev},
     title = {Spherical {Robots:}},
     journal = {Russian journal of nonlinear dynamics},
     pages = {709--750},
     year = {2022},
     volume = {18},
     number = {4},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/ND_2022_18_4_a15/}
}