Table 1: Specification of the modules of CHOBIE II.

Main materialABS resin

SizeCentral board: 8 0 × 8 0 × 5 0 [mm]
Lateral board: 8 0 × 8 0 × 2 5 [mm]
Outer size: 9 6 × 9 6 × 1 0 0 [mm]
Mass0.59 [kg]
Driving force20 [N]
Moving velocityUpward: 44.4 [mm/s]
Downward: 57.1 [mm/s]
Sideways: 53.3 [mm/s]
MPUH8/3664F
BatteryLi-355SP × 2 (serial, 7.4 [V], 550 [mAh])