2 Construction of the modular configurations

The three configurations developed are based on the Y1 modules (Figure[*]b), designed for the Cube worm-like robot[9]. The rotation range is $180^{0}$ and the dimensions are 72x52x52 mm, as shown in Figure[*]b. These modules are inspired in Polybot G1, designed by Mark Yim at PARC.

juan 2005-10-07