starting my answer based on this answer:
Yes , You have lot of options/tools to use. I just tried this , it works:
ifconfig | grep -oE "\b([0-9]{1,3}.){3}[0-9]{1,3}\b" a so you can use grep -oE "\b([0-9]{1,3}.){3}[0-9]{1,3}\b" to grep the ip addresses from your output.
and converting the answer to full length IPv6, etc...:
fgrep -oE "\b([0-9A-Fa-f]{1,4}:){7}[0-9A-Fa-f]{1,4}\b" -- file
if you want to keep the /nnn if it's there:
fgrep -oE "\b([0-9A-Fa-f]{1,4}:){7}[0-9A-Fa-f]{1,4}(/[0-9]{1,3}){0,1}\b" -- file
and also there's the shortened version of IPv6 that includes '::'.
for more IPv6 answers you can look here: http://stackoverflow.com/questions/53497/regular-expression-that-matches-valid-ipv6-addresseshttps://stackoverflow.com/questions/53497/regular-expression-that-matches-valid-ipv6-addresses