Spherical Actuator/Joint (3D Printed, Arduino, Servo)

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Needed this for an upcoming project.
- CAD files: https://www.thingiverse.com/thing:4857920
- It was based on a design found in this paper, thanks guys: https://journals.sagepub.com/doi/full/10.1177/1687814017721854#:~:text=II%20is%20higher.-,Kinematics%20modeling%20and%20gait%20planning,similar%20kinematic%20expressions%20and%20gaits.
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