Geodesic
Nonholonomic dynamics and control of a~spherical robot with an internal omniwheel platform: theory and experiments
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Modern problems of mechanics, Tome 295 (2016), pp. 174-183

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We present the results of theoretical and experimental investigations of the motion of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed inside the robot. The control of the spherical robot is based on a dynamic model in the nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate coefficients. A number of experiments have been carried out that confirm the adequacy of the dynamic model proposed. 
@article{TM_2016_295_a8,
     author = {Yu. L. Karavaev and A. A. Kilin},
     title = {Nonholonomic dynamics and control of a~spherical robot with an internal omniwheel platform: theory and experiments},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {174--183},
     publisher = {mathdoc},
     volume = {295},
     year = {2016},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2016_295_a8/}
}
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Yu. L. Karavaev; A. A. Kilin. Nonholonomic dynamics and control of a~spherical robot with an internal omniwheel platform: theory and experiments. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Modern problems of mechanics, Tome 295 (2016), pp. 174-183. http://geodesic.mathdoc.fr/item/TM_2016_295_a8/