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: 80×80×50[mm]; Lateral board: 80×80×25[mm]; Outer size: 96×96×100[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×2 (serial, 7.4 [V], 550 [mAh])