Modular Self-Reconfigurable Robotic Systems: A Survey on Hardware Architectures

Table 1

CEBOT, cell physical characteristics.

	Series I	Series II
Dimensions (mm)	190 90 50	176 126 90
Weight (Kg)	1.2 (mobile cell)	2.7 (mobile cell)
	1.2 (target cell)	1.0 (target cell)
Connectivity surface	Flat	Tapered
Coupler actuator	SMA	DC motor