http://www.mech.tohoku-gakuin.ac.jp/rde/contents/tech/BallIPMini/indexframe.html

http://www.mech.tohoku-gakuin.ac.jp/rde/contents/tech/BallIPMini/techinfo.html#fJhaScCGcCcBcCcBfcCscCmcCcCI

https://www.fujipress.jp/jrm/rb/robot002200030348/

(using google translate)http://www.mech.tohoku-gakuin.ac.jp/rde/contents/tech/BallIPMini/techinfo.html

 

https://disqus.com/by/kumagai/

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