Join IEEE| IEEE.org| IEEE Xplore Digital Library| IEEE Standards| IEEE Spectrum| More Sites
arrow_back_ios

Robots

Your Guide to the World of Robotics

menu

Gallery

Thumbnail image of Daisy

Daisy

Details

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.

Creator
HEBI Robotics
Country
United States 🇺🇸
Year
2017
Type
Research
Creator
HEBI Robotics
Country
United States 🇺🇸
Year
2017
Type
Research

Ratings

How do you like this robot?


Rate this robot's appearance

Creepy

Nice


Would you want to have this robot?

 

Did You Know?

The first Daisy was built for the Robot Revolution exhibit at the Chicago Museum of Science and Industry.
The creators of Daisy used additional actuators to give the robot a 6-DoF arm with gripper.
Daisy was partly named in reference to the final moments of HAL 9000 in the movie "2001: A Space Odyssey," when it sings "Daisy Bell" during its gradual deactivation.

Specs

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