H. B. Brown, Jr. and X. Yangsheng, "A single-wheel, gyroscopically
stabilized robot," IEEE International Conference on Robotics and
Automation, New York, NY, USA, 1996, pp. 3658-3663.
 G. C. Nandy and X. Yangsheng, "Dynamic model of a gyroscopic wheel,"
IEEE International Conference on Robotics and Automation, New York,
NY, USA, 1998, pp. 2683-2688.
 S. J. Tsai, E. D. Ferreira, and C. J. J. Paredis, "Control of the gyrover,"
IEEE/RSJ International Conference on Intelligent Robots and Systems:
Human and Environment Friendly Robots whith High Intelligence and
Emotional Quotients, Kyongju, South Korea, 1999, pp. 179-184.
 A. Halme, T. Schonberg, and W. Yan, "Motion control of a spherical
mobile robot," IEEE International Workshop on Advanced Motion
Control, New York, NY, USA, 1996, pp. 259-264.
 A. Bicchi, A. Balluchi, D. Prattichizzo, and A. Gorelli, "Introducing the
`SPHERICLE': An experimental testbed for research and teaching in
nonholonomy," IEEE International Conference on Robotics and
Automation, Albuquerque, NM, USA, 1997, pp. 2620-2625.
 A. A. H. Javadi and P. Mojabi, "Introducing August: a novel strategy for
an omnidirectional spherical rolling robot," Piscataway, NJ, USA, 2002,
 S. Bhattacharya and S. K. Agrawal, "Spherical rolling robot: A design and
motion planning studies," IEEE Transactions on Robotics and
Automation, vol. 16, pp. 835-839, 2000.
 G. Shu, Q. Zhan, and Y. Cai, "Motion control of spherical robot based on
conservation of angular momentum," IEEE International Conference on
Mechatronics and Automation, Changchun, China, 2009, pp. 599-604.
 W.-H. Chen, C.-P. Chen, W.-S. Yu, C.-H. Lin, and P.-C. Lin, "Design and
implementation of an omnidirectional spherical robot Omnicron,"
IEEE/ASME International Conference on Advanced Intelligent
Mechatronics (AIM), Piscataway, NJ, USA, 2012, pp. 719-24.
 C. E. Thorne and M. Yim, "Design and analysis of a gyroscopically
controlled micro air vehicle," Journal of Intelligent & Robotic
Systems, vol. 65, pp. 417-35, 2012.
 C.-C. Hsiao, C.-E. Tsai, J.-Y. Tu, and Y.-K. Ting, "Development of a
Three-Dimensional-Flywheel Robotic System," International
Conference on Mechanical Engineering and Applied Mechanics, Paris,