Figure 4

3D-CAD models of the robot: Head part models on the left and right are used with one- and two-part foams, respectively. Individual components of the robot were mostly constructed using ABS board, while the holding jigs for actuators and the canisters were printed by a 3D-printer. Basic specifications of the body part are the following: length 250 mm, width 250 mm, height 158 mm, and wheel width 100 mm. The 2D-size of both head parts is length 350 mm and width 250 mm, while the heights for the one- and two-part foam types are 145 mm and 200 mm, respectively. The turning radius of the nozzle is 213 mm for both head parts. The total weight of the one-part foam robot including canister is approximately 4.3 kg, and that for the two-part foam type robot is approximately 4.6 kg.