Found in 2 comments on Hacker News
grinich · 2013-10-24 · Original thread
I highly recommend the book Code Name Ginger, which is the remarkable story behind the Segway.

grinich · 2013-02-04 · Original thread
The Segway was actually pretty complex -- definitely not just a spin-off. (Though I agree the iBot is awesome.)

If you want to learn the full story, I recommend the book Code Name Ginger.

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