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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

WEBSITE

https://www.hebirobotics.com/robotic-kits