  The manuscript discusses still preliminary considerations with regard to the
dynamics and kinematics of an egg shaped robot with an gyro driven inertia
actuator. The method of calculation follows the idea that we would like to
express the entire dynamic equations in terms of moments instead of forces.
Also we avoid to derive the equations from a Lagrange function with
constraints. The result of the calculations is meant to be applicable to two
robot prototypes that have been build at the AES\&R Laboratory at the National
Chung Cheng University in Taiwan.
