1. Chang, W.S., Toumi, K.Y.: Modeling of an omni-directional high precision friction drive positioning stage. In: Proceedings of International Conference on Robotics and Automation, Leuven, Belgium, pp. 175–180 (1998)
2. Kim, J., Yeom, H., Park, F.C.: MOSTS: a mobile robot with a spherical continuously variable transmission. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 1751–1756, 17–21 October 1999
3. Loewenthal, S.H., et al.: Evaluation of a high performance fixed-ratio traction drive. Trans. ASME 103(2), (1981)
4. Moore, C.A., Peshikin, M.A., Colgate, J.E.: Design of a 3R cobot using continuously variable transmission. In: IEEE International Conference on Robotics and Automation, Detroit, Michigan, pp. 3249–3254, May 1999
5. Nakamura, Y., Chung, W., Sordalen, O.J.: Design and control of the nonholonomic manipulator. IEEE Trans. Robot. Autom. 17(1), 48–59 (2001)