1. Chaplygin, S.A.: On rolling a ball on a horizontal plane. Matematicheskii Sbornik 1(24), 139–168 (1903)
2. Veselov, A.P., Veselova, L.E.: Integrable nonholonomic systems on Lie groups. Math. Notes 5(44), 810–819 (1988)
3. Borisov, A.V., Mamaev, I.S.: A new integrable system of nonholonomic mechanics. Dokl. Phys. 60, 269–271 (2015)
4. Alves, J., Dias, J.: Design and control of a spherical mobile robot. J. Syst. Control Eng. 217, 457–467 (2003)
5. Lyapunov, A.M.: On permanent helical motions of a rigid body in fluid. Collected Works USSR Acad. Sci. 1, 276–319 (1954)