A 3D dynamic model of a spherical wheeled self-balancing robot. - Ali Nail Inal; Ömer Morgül; Uluc Saranli (IROS, 2012)

Path following with an underactuated self-balancing spherical-wheel mobile robot. - Ali Nail Inal; Ömer Morgül; Uluc Saranli (ICAR, 2015)