Research Article
Self-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure: Algorithm for Adaptive Transformation to Load Condition
Table 1
Specification of the modules of CHOBIE II.
| Main material | ABS resin |
| Size | Central board: [mm] Lateral board: [mm] Outer size: [mm] | Mass | 0.59 [kg] | Driving force | 20 [N] | Moving velocity | Upward: 44.4 [mm/s] Downward: 57.1 [mm/s] Sideways: 53.3 [mm/s] | MPU | H8/3664F | Battery | Li-355SP (serial, 7.4 [V], 550 [mAh]) |
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