The HipsterBot has an H-type belt configuration for controlling the X and Y axes. What’s special about this is that there are two stepper motors connected together with one long belt. If the steppers move in opposite direction, they control the X-axis. If they move in the same direction, they control the Y-axis. Therefore, the need for a linear mapping from a cartesian coordinate system into an H-belt coordinate system arises. In the RepRap community, the X-axis is usually the axis where the extruder sits, note that this is not the case here.
The advantage to this setup is that (with a Bowden extruder) there are no moving stepper motors to add weight to the carriage, so the speed can be high. The disadvantage is that there is some elasticity in the belt.
Luckily there’s a paper for that! …
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