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Table 2 Specifications of the custom ultrasonic sensor

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

Sensor SRF01
Beam width 10°
Minimum range  
Maximum range 6 m
Time period per data point 0.15 s
Motor HS-35HD Ultra Nano Servo
Size in mm 18.6 × 7.6 × 15.5
Weight (g) 4.5
Torque (kg/cm) 0.8
Speed 0.10