Minimal configuration

(1 active + 2 passive caster wheels) Differentially steered 3-wheeled robot with single active wheel, two passive caster wheels, a master battery with PMU, and an onboard CPU. Payload: 125 kg

(2 active + 2 passive caster wheels) Omnidirectional mobile robot with two active wheels, two caster wheels, an onboard CPU and a master battery with a PMU. Payload: 500 kg

(3 active wheels) Omni-directional mobile robot with three active wheels, an onboard CPU, and a master battery with a PMU. Payload: 375 kg