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])