Top of Page 14 in Fred Martin's "The Art of Lego Design" (ftp://cherupakha.me...flego.pdf) . (BTW, this is an excellent document with some good techniques--I'm really skimming here, but it looks like part of this was used to recommend stuff to Lego (...) (25 years ago, 10-Dec-99, to lugnet.robotics)
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