Width 578.6 [mm] Length 529.1 [mm] Weight 26 [kg] Ball diameter 98 [mm] Ball weight 0.56 [kg] Ball material Urethane shore 90 Rotor diameter 40 [mm] Rotor material Stainless steel (SUS304) Actuator Oriental DC 100 [W] × 3 Gear ratio 15:1

Table 2: Specifications of omnidirectional mobile vehicle.