Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “Rolling of a Homogeneous Ball over a Dynamically Asymmetric Sphere”, Regul. Chaotic Dyn., 16:5 (2011), 465–483
Firdaus E. Udwadia, Giandomenico Di Massa, “Sphere rolling on a moving surface: Application of the fundamental equation of constrained motion”, Simulation Modelling Practice and Theory, 19:4 (2011), 1118
A. V. Borisov, A. A. Kilin, I. S. Mamaev, “Kachenie odnorodnogo shara po dinamicheski nesimmetrichnoi sfere”, Nelineinaya dinam., 6:4 (2010), 869–889
A. Yu. Moskvin, “Rezinovyi shar na ploskosti: kriticheskie resheniya”, Nelineinaya dinam., 6:2 (2010), 345–358
I. S. Mamaev, “Universalnyi kompleks programm dlya issledovaniya mekhanicheskikh sistem s negolonomnymi svyazyami”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 2009, no. 2, 147–160
Peter Lynch, Miguel D Bustamante, “Precession and recession of the rock'n'roller”, J. Phys. A: Math. Theor., 42:42 (2009), 425203
Igor Goncharenko, Mikhail Svinin, Shigeyuki Hosoe, “Dynamic Model, Haptic Solution, and Human-Inspired Motion Planning for Rolling-Based Manipulation”, Journal of Computing and Information Science in Engineering, 9:1 (2009)
A.V. Borisov, Yu.N. Fedorov, I.S. Mamaev, “Chaplygin ball over a fixed sphere: an explicit integration”, Regul. Chaotic Dyn., 13:6 (2008), 557–571
A. V. Borisov, I. S. Mamaev, V. G. Marikhin, “Explicit integration of one problem in nonholonomic mechanics”, Dokl. Phys., 53:10 (2008), 525
A. V. Borisov, I. S. Mamaev, “Conservation Laws, Hierarchy of Dynamics and Explicit Integration of Nonholonomic Systems”, Regul. Chaotic Dyn., 13:5 (2008), 443–490