@article{moradi2024mechanics,
  title={Mechanics and control of a freely rolling two-link robot with joint actuation},
  author={Moradi, Hamidreza and Wolek, Artur and Kelly, Scott David},
  journal={IFAC-PapersOnLine},
  volume={58},
  number={28},
  pages={947--952},
  year={2024},
  publisher={Elsevier BV},
  doi={10.1016/j.ifacol.2025.01.118}
}