This video shows a similar system as the Euler' s Disk, but in an inverted position, kind of a pendulum.
Micromachines, Free Full-Text
Pendulum Hanging from Rolling Disk - Wolfram Demonstrations Project
InverseKinematics
Model reduction of the tippedisk: a path to the full analysis
Model reduction of the tippedisk: a path to the full analysis
Model reduction of the tippedisk: a path to the full analysis
Inverted pendulum - Wikipedia
PDF) Rolling friction and energy dissipation in a spinning disc
making an Euler's Disk using hardisk ll diy disk
PDF) Rolling and slipping motion of Euler's disk