Daisy

A man with a device stands looking at a red, black and silver hexapod robot.
Daisy comes out of the box ready to work. Photo: HEBI Robotics

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

Year
2017
Country
United States 🇺🇸
Categories
Features
Meet Daisy. Video: HEBI Robotics

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Appearance

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Did you know?

The first Daisy was built for the Robot Revolution exhibit at the Chicago Museum of Science and Industry.

A hexapod robot is seen with it's center unit lowered to the wood floor, while it's legs remain bent.
Flexibility is important in a robot. Photo: HEBI Robotics

Specs

Overview

Modular configuration using HEBI Robotics' X-Series actuators. Force sensing and control on all joints. Series-elastic actuation on all joints.

Status

Ongoing

Year

2017

Website
Width
100 cm
Height
50 cm
Length
100 cm
Weight
18 kg
Speed
1 km/h
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.

Degrees of Freedom (DoF)
18 (Legs: 6 x 3 DoF)
Materials

Mostly aluminum tubing and machined brackets. 3D-printed wire covers.

Compute

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.

Power

Two 98-Wh LiGo batteries from Grin Technologies. Hot-swappable, with 1 to 2 hours of operation.

Cost
$85,000