I was really fascinated by Itani-san's MM3 micromouse during the competition this weekend, and a little disappointed that it didn't end up winning. Nevertheless, the concept of steerable wheels really caught my attention, so I decided to do more research. It was a little difficult since the kanji used in his family name can be pronounced a number of different ways, but eventually I managed to do a successful Google search and located a website (in Japanese) that includes lots of MM3 photos and wealth of design detail. There are photos showing the body without the PC boards, and even a photo of MM3's underside. There is also an extensive writeup covering things like steering through the maze on a diagonal, speed control, sensors, a great video, a downloadable maze program, and the like, plus a link to Nakajima's site for the background on the six wheel design. I wasn't too surprised to find that MM3 uses a Murata piezo-electric gyroscope.