[Harmonic gearing]
http://www.britannica.com/eb/art-61260?articleTypeId=1
http://www.waltmusser.org/HD.htm
http://ipp.gsfc.nasa.gov/ft-tech-gear-bearings.html
http://machinedesign.com/ContentItem/70515/Sometimesitpaystobeeccentric.aspx
patents:
http://www.freepatentsonline.com/6772655.html
http://www.freepatentsonline.com/6736028.html
http://www.roymech.co.uk/Useful_Tables/Drive/Harmonic_Gears.html


[Epicyclic gearing]
http://en.wikipedia.org/wiki/Epicyclic_gearing
http://gtrebaol.free.fr/doc/catia/epicyclic.html


[magnet torque motor]



[brushless motor]
http://www.rcgroups.com/forums/showthread.php?t=60760
http://members.jcom.home.ne.jp/4223215501/CD_Brushless.htm
http://www.aeroplaza.nl/equipment.htm

[linear motor]
http://mag-net.ee.umist.ac.uk/reports/P12/p12.html

[brushless driver controler]
http://grant.solarbotics.net/images/Circuits/Stepper_Driver_ACTU.gif


[Harmonic drive motor]
http://www.wipo.int/pctdb/en/wo.jsp?WO=2004%2F025815&IA=WO2004%2F025815&DISPLAY=STATUS
http://www.rocketstarrobotics.com/marketing/brochures/Rocketstar.pdf