Design and validation of the binary actuated parallel manipulator BAPAMAN2. - Giuseppe Carbone; Ettore D'Aliesio; Gunnar Borchert; Annika Raatz (Adv. Robotics, 2013)

Design of a holonomic ball drive for mobile robots. - Gundula Runge; Gunnar Borchert; Annika Raatz (MESA, 2014)

Design and Testing of a 2-DOF Ball Drive. - Gundula Runge; Gunnar Borchert; Patrick Henke; Annika Raatz (J. Intell. Robotic Syst., 2016)