Design, Kinematic Analysis, and Quasi-Steady Control of a Morphic Rolling Disk Biped Climbing Robot. - Benjamin E. Shores; Mark A. Minor (ICRA, 2005)

Design and Quasi-Static Locomotion Analysis of the Rolling Disk Biped Hybrid Robot. - Cristian C. Phipps; Benjamin E. Shores; Mark A. Minor (IEEE Trans. Robotics, 2008)