Bipolar motors have a single winding per phase. The current in a winding needs to be reversed in order to reverse a magnetic pole, so the driving circuit must be more complicated, typically with an H-bridge arrangement "however there are several off-the-shelf driver chips available to make this a simple affair". There are two leads per phase, none are common.Static friction effects using an H-bridge have been observed with certain drive topologies.
Stepper motors are like a servo motor in that they move to a spot and hold their position. But they can also spin like a DC and Brushless Motor. They can not hold their position as strongly as a servo motor, and they can not spin as fast as a brushed or brushless motor.
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