@article{SM_2014_205_2_a0,
     author = {I. Yu. Beschastnyi},
     title = {The optimal rolling of a~sphere, with twisting but without slipping},
     journal = {Sbornik. Mathematics},
     pages = {157--191},
     publisher = {mathdoc},
     volume = {205},
     number = {2},
     year = {2014},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/SM_2014_205_2_a0/}
}