Human-approaching trajectories for a person-sized balancing robot. - Michael Shomin; Bhaskar Vaidya; Ralph L. Hollis; Jodi Forlizzi (ARSO, 2014)

Operation of the ballbot on slopes and with center-of-mass offsets. - Bhaskar Vaidya; Michael Shomin; Ralph L. Hollis; George Kantor (ICRA, 2015)