Daisy
Daisy is a hexapod robotics kit designed for researchers interested in robot locomotion and motion control. The system can be easily customized and expanded depending on the needs of each research project.
FEATURES
Modular configuration using HEBI Robotics' X-Series actuators. Force sensing and control on all joints. Series-elastic actuation on all joints.
HEIGHT
50 cm | 19.7 in
LENGTH
100 cm | 39.3 in
WIDTH
100 cm | 39.3 in
WEIGHT
18 kg | 40 lb
SPEED
1 km/h | 0.62 mph
SENSORS
Proprioceptive (internal) sensing provided by the joints. Each joint has position, velocity, and torque sensing, as well as an IMU, plus various internal temperatures, current, and voltage sensors.
ACTUATORS
Twelve X8-9 actuators, and six X8-16 actuators.
POWER
Two 98-Wh LiGo batteries from Grin Technologies. Hot-swappable, with 1 to 2 hours of operation.
COMPUTING
Intel NUC computer in chassis. ARM Cortex M4 microprocessor in each joint.
SOFTWARE
Computer can be configured with Ubuntu or Windows. Kit demo code and full APIs available in C++, ROS, Python, and MATLAB. Each actuator runs ChibiOS for hard real-time motor control and sensor processing.
DEGREES OF FREEDOM (DOF)
18 (Legs: 6 x 3 DoF)
MATERIALS
Mostly aluminum tubing and machined brackets. 3D-printed wire covers.
COST
$85,000
STATUS
Ongoing