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