On the Routh sphere problem
  We discuss an embedding of a vector field for the nonholonomic Routh sphere into a subgroup of commuting Hamiltonian vector fields on six dimensional phase space. The corresponding Poisson brackets are reduced to the canonical Poisson brackets on the Lie algebra e(3). It allows us to relate nonholonomic Routh system with the Hamiltonian system on cotangent bundle to the sphere with canonical Poisson structure. 
I.A. Bizyaev, A.V. Tsiganov
nlin.SI math-ph math.DS math.MP