Felix von Drigalski, Devwrat Joshi, Takayuki Murooka, Kazutoshi Tanaka, Masashi Hamaya, Yoshihisa Ijiri, "An analytical diabolo model for robotic learning and control", ICRA2021
blog: https://medium.com/sinicx/an-analytical-diabolo-model-for-robotic-learning-and-control-c8d8a8384d6d