Most of the capsules have the same categories of components:
a microprocessor, communication submodules that link the device with the user’s intent, an energy source, sensors such as accelerometers and gyroscopes, and actuators that enable locomotion. With those categories in mind, Valdastri and his team made a modular platform in which the pieces work in concert and can be interchanged with ease without having to reinvent the proverbial wheel.