2 citations to https://www.mathnet.ru/rus/dan40618
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A. A. Kilin, T. B. Ivanova, “The Integrable Problem of the Rolling Motion
of a Dynamically Symmetric Spherical Top
with One Nonholonomic Constraint”, Rus. J. Nonlin. Dyn., 19:1 (2023), 3–17
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Tatiana B. Ivanova, Yury L. Karavaev, Alexander A. Kilin, “Control of a pendulum-actuated spherical robot on a horizontal plane with rolling resistance”, Arch Appl Mech, 92:1 (2022), 137