On the Energy Efficiency of CVT-Based Mobile Robots. - Jungyun Kim; Hanjun Yeom; Frank C. Park 001; Yeongil I. Park; Munsang Kim (ICRA, 2000)

Design, Analysis and Control of a Wheeled Mobile Robot with a Nonholonomic Spherical CVT. - Jungyun Kim; Frank C. Park 001; Yeongil I. Park (Int. J. Robotics Res., 2002)