Multi Degree of Freedom Spherical Ultrasonic Motor

@inproceedings{Toyama1995MultiDO,
  title={Multi Degree of Freedom Spherical Ultrasonic Motor},
  author={Shegeki Toyama and Shigeru Sugitani and Guoqing Zhang and Yasutaro Miyatani and Kazuto Nakamura},
  booktitle={ICRA},
  year={1995}
}
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