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Table 1 Specifications of the Scorpio robot [24]

From: Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor

Controller Arduino Mini Pro 328
Servo motor JR ES 376
Servo controller Pololu Micro Maestro 18 channel USB servo controller
Battery LiPo 1200 mAh 7.4 v
ZigBee XBee Pro S1, Digi International
Full body material Polylactic acid (PLA)
Diameter (rolling) in mm 168 mm
LXWXH (walking) in mm 230 mm × 230 mm × 215 mm
Weight (full weight) in g 430 g