This battery charger charges a NIMH 5-pack battery used in the BiPed robot in less than 1 hour, and charges the 10-pack NiCd used in the Snuf robot in about 30 minutes. To prevent overheating of the battery, the charging current is turned off when the slope of the battery-voltage turns from positive into negative. A second termination-criterion of the charging process is provided for safety: the charge time is limited to about 1 hour.

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