%Aigaion2 BibTeX export from 
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@ARTICLE{,
    author = {Jaimez, Mariano and Castillo, Juan J. and García, Francisco and Cabrera, Juan A.},
  keywords = {Dynamic model, Omnidirectional motion, Spherical robot},
     title = {Design and Modelling of Omnibola©, A Spherical Mobile Robot},
   journal = {Mechanics based design of structures and machines},
    volume = {40},
    number = {4},
      year = {2012},
       doi = {10.1080/15397734.2012.687285},
  abstract = {A spherical mobile robot called Omnibola© is introduced and analyzed in this article.
Some advantages of this kind of robot compared with typical wheeled robots are
described. Its geometry and its features are presented, emphasizing on those which
make it different from other ball-shaped robots. A mathematical model has been
developed to have a tool to study our robot dynamics. We conducted some experiments
to confirm that model results are similar to experimental results observed in the real
robot. Either in experiments or in simulations, the robot’s behavior is quite oscillatory.
Because of this, a simple control law is proposed to stabilize that oscillatory motion.},
     pages = {383--399}
}