1.Bicchi, A., Balluchi, A., Prattichizzo, D. and Gorelli, A., “Introducing the Sphericle: An Experimental Testbedfor Research and Teaching in Nonholonomy,” Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA (1997) vol. 3, pp. 2620–2625.
2.Alves, J. and Dias, J., “Design and control of a spherical mobile robot,” Proc. Inst. Mech. Eng. Part I: J. Syst. Control Eng. 217, 457–467 (2003).
3.Camicia, C., Conticelli, F. and Bicchi, A., “Nonholonomic Kinematics and Dynamics of the Sphericle,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan (2000) vol. 1, pp. 805–810.
4.Halme, A., Schonberg, T. and Wang, Y., “Motion Control of a Spherical Mobile Robot,” Proceedings of the Fourth International Workshop on Advanced Motion Control, Albuquerque, NM, USA (1996) vol. 1, pp. 259–264.
5.Javadi, A. A. H. and Mojabi, P., “Introducing August: A Novel Strategy for an Omnidirectional Spherical Rolling Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, USA (2002) vol. 4, pp. 3527–3533.
6.Javadi, A. A. H. and Mojabi, P., “Introducing glory: A novel strategy for an omnidirectional spherical rolling robot,” J. Dyn. Syst. Meas. Control 126, 678–683 (2004).
7.Mukherjee, R., Minor, M. A. and Pukrushpan, J. T., “Simple Motion Planning Strategies for Spherobot: A Spherical Mobile Robot,” Proceedings of the 38th IEEE Conference on Decision and Control, Washington DC, USA (1999) vol. 3, pp. 2132–2137.
8.Ming, Y., Zongquan, D., Xinyi, Y. and Weizhen, Y., “Introducing Hit Spherical Robot: Dynamic Modeling and Analysis Based on Decoupled Subsystem,” Proceedings of the IEEE International Conference on Robotics and Biomimetics, Harbin, China (2006), pp. 181–186.
9.Joshi, V. A. and Banavar, R. N., “Motion analysis of a spherical mobile robot,” Robotica 27, 343–353 (2009).
10.Joshi, V. A., Banavar, R. N. and Hippalgaonkar, R., “Design and analysis of a spherical mobile robot,” Mech. Mach. Theory 45, 130–136 (2010).
11.Bhattacharya, S. and Agrawal, S. K., “Spherical rolling robot: A design and motion planning studies,” IEEE Trans. Robot. Autom. 16, 835–839 (2000).
12.Bhattacharya, S. and Agrawal, S. K., “Design, Experiments and Motion Planning of a Spherical Rolling Robot,” Proceedings of the International Conference on Robotics and Automation, San Francisco, CA, USA (2000) vol. 2, pp. 1207–1212.
13.Rosen, A., “Modified lagrange method to analyze problems of sliding and rolling,” J. Appl. Mech. 67, 697–704 (2000).
14.Bloch, A. M., Nonholonomic Mechanics and Control (Springer, New York, USA, 2004).
15.Qiang, Z., Zengbo, L. and Yao, C., “A back-stepping based trajectory tracking controller for a non-chained nonholonomic spherical robot,” Chin. J. Aeronaut. 21, 472–480 (2008).
16.Zhuang, W., Liu, X., Fang, C. and Sun, H., “Dynamic Modeling of a Spherical Robot with Arms by Using Kane's Method,” Proceedings of the Fourth International Conference on Natural Computation, Beijing, China (2008) vol. 4, pp. 373–377.
17.Gonzalez, L. A., “Design, modelling and control of an autonomous underwater vehicle,” Ph.D. dissertation, The University of Western Australia (Oct. 2004).
18.Kennedy, J., “Decoupled Modelling and Controller Design for the Hybrid Autonomous Underwater Vehicle: Maco,” Ph.D. Dissertation (Victoria, Canada: University of Victoria, 2002).
19.Sienel, W., “Robust Decoupling for Active Car Steering Holds for Arbitrary Dynamic Tire Characteristics,” Proceedings of the Third European Control Conference, Rome, Italy (1995) pp. 744–748.
20.Ackermann, J. and Bunte, T., “Handling Improvement for Robustly Decoupled Car Steering Dynamics,” Proceedings of the Fourth IEEE Mediterranean Symposium on New Directions in Control and Automation, Materne, Krete, Greece (1996) pp. 83–88.
21.Nakajima, R., Tsubouchi, T., Yuta, S. and Koyanagi, E., “A Development of a New Mechanism of an Autonomous Unicycle,” Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, Grenoble, France (1997) vol. 2, pp. 906–912.
22.Schoonwinkel, A., “Design and Test of a Computer Stabilized Unicycle,” Ph.D. Dissertation (Stanford, CA, USA: University of Stanford, 1987).
23.Miklosovic, R. and Gao, Z., “A Dynamic Decoupling Method for Controlling High Performance Turbofan Engines,” Proceedings of the 16th IFAC World Congress, Prague, Czech Republic (2005).
24.Au, K. W. and Xu, Y., “Decoupled Dynamics and Stabilization of Single Wheel Robot,” Proceedings of 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea (1999) vol. 1, pp. 197–203.
25.Lemos, N. A., “Nonholonomic constraints and voronec's equations,” arXiv:physics/0306078v1 [physics.ed-ph] (Jun. 2003).
26.Hand, L. N. and Finch, J. D., Analytical Mechanics (Cambridge University Press, Cambridge, 1998).