National Institute of Advanced Industrial Science and Technology (AIST) This page is a page of the former research institute. We stopped updating on March 31.2001.
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1st Prototype Unit
@1st Prototype unit is used to verify its basic reconfiguration function. It weighs aobut 1 Kg, and its diameter is 12cm. Three units were made.

2nd Prototype Unit
2nd Prototype unit is designed to evaluate the group operation of self-assembly and self-repair. Digital communication devises are enhanced, and the size and weight are much smaller than the 1st prototype. (diameter = 8cm, weight 400g, 20 units were made.)
Top view
  • tether for electricity
    suply DC12V

  • serial I/O cable
    for program download

  • CPU boad
    Z80(10MHz) with 64KB memory

  • Control interface board
    Independent 6ch serial I/O, coil driver unit, LED indicators for debug, etc.

  • LED
    for optical signal transmission

  • Photo transistor
    for optical signal receive

  • ball caster
Bottom view

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