Cheng Li Aibin Zhu Chunli Zheng Han Mao Muhammad Affan Arif Jiyuan Song Yulin Zhang Design and analysis of a spherical robot based on reaction wheel stabilization. 143-148 2022 UR https://doi.org/10.1109/UR55393.2022.9826266 conf/urai/2022 db/conf/urai/urai2022.html#LiZZMASZ22