Here are manuals written by Yuji Sakaguchi, a former student in Yamaguchi Lab. These might be useful for CRIB beginners.

Anapaw Manual

• (Japanese, pdf)
• (Japanese, pptx)
• (English, pdf)
• (English, pptx)
• (Installation notes)

Crabat Manual

• (Japanese, pdf)
• (Japanese, pptx)
• (English, pdf)
• (English, pptx)
• Sample codes