Mikhail M. Svinin, Akihiro Morinaga, Motoji Yamamoto. An analysis of the motion planning problem for a spherical rolling robot driven by internal rotors. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 414-419, IEEE, 2012. [doi]
Abstract is missing.