DESCRIPTION
DHAV-Hy is a Legged-Robots from xTerra Robotics. It is built for Research, Security, Inspection. Key figures: 22 kg, 120 min runtime, 12 degrees of freedom.
DHAV-Hy is the wheeled-legged version of xTerra Robotics' DHAV quadruped. It keeps DHAV's legs, sensors and computers but adds lockable hub-drive wheels at the feet, so it can roll across open ground at up to about 18 km/h and then lock the wheels to walk over stairs, slopes and rough terrain that wheels cannot handle. It shares DHAV's 12 quasi-direct-drive leg actuators, 360-degree 3D LiDAR, stereo depth camera, NVIDIA Jetson navigation computer, ROS2 SDK and 504 Wh quick-swap battery, and weighs about 22 kg. xTerra aims it at perimeter security and patrol, construction sites and industrial inspection, where wheeled mode covers large areas quickly. Pre-sales are open; figures are indicative until confirmed at order.
FEATURES
- Wheeled-legged variant of DHAV: hub-drive wheels (lockable) on the legs for rolling, legs for stairs and rough ground
- Max wheeled speed ~18 km/h (5.0 m/s)
- trot, custom gaits and wheeled rolling
- About 22 kg with battery
- 12 quasi-direct-drive actuators (3 per leg)
- max joint torque hip/thigh 40 Nm, knee 80 Nm
- FOC joint control
- Climbs and descends ~45-degree slopes
- stairs up to 30 cm step height
- Li-ion 7S4P battery, 25.2 V nominal, 20 Ah (~504 Wh), quick-swap
- 90 min charge
- endurance at least 120 min
- 360-degree 3D LiDAR (40 m at 10 % reflectivity, <=3 cm precision)
- stereo depth + RGB camera
- 6-axis IMU
- NVIDIA Jetson navigation computer + quad-core Cortex-A76 locomotion computer
- ROS2, Python and C++ SDK, URDF simulation models
- Wi-Fi and Gigabit Ethernet
- payload ports 2x Ethernet, USB, 12 V and 24 V power
- RF joystick and long-range web teleoperation
- physical kill switch
- High-strength aluminium alloy body and legs
- operating temperature 0-50 deg C
- active fan cooling
TECHNICAL SPECIFICATIONS
Verified| Physical | |
| Weight | 22 kg |
|---|---|
| Materials | high-strength aluminium alloy |
| Mobility | |
| Movement Type | Quadruped, Wheeled, Hybrid |
| Degrees of Freedom | 12 |
| Speed | 18 km/h |
| Environment | Outdoor and industrial; open ground, stairs, slopes |
| Actuators | 12 quasi-direct-drive leg actuators plus lockable wheel hub drives |
| Power | |
| Battery Life | 120 min |
| Sensing & Compute | |
| Sensors | 360-degree 3D LiDAR, stereo depth + RGB camera, 6-axis IMU, joint encoders |
| Connectivity | Wi-Fi, Gigabit Ethernet; RF joystick; web long-range teleop |
| Software / AI | ROS2; Python and C++ SDK; URDF models |
TECHNICAL SPECIFICATIONS
Verified| Physical | |
| Weight | 22 kg |
|---|---|
| Materials | high-strength aluminium alloy |
| Mobility | |
| Movement Type | Quadruped, Wheeled, Hybrid |
| Degrees of Freedom | 12 |
| Speed | 18 km/h |
| Environment | Outdoor and industrial; open ground, stairs, slopes |
| Actuators | 12 quasi-direct-drive leg actuators plus lockable wheel hub drives |
| Power | |
| Battery Life | 120 min |
| Sensing & Compute | |
| Sensors | 360-degree 3D LiDAR, stereo depth + RGB camera, 6-axis IMU, joint encoders |
| Connectivity | Wi-Fi, Gigabit Ethernet; RF joystick; web long-range teleop |
| Software / AI | ROS2; Python and C++ SDK; URDF models |
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FREQUENTLY ASKED QUESTIONS
What is the DHAV-Hy?
DHAV-Hy is the wheeled-legged version of xTerra Robotics' DHAV quadruped. It keeps DHAV's legs, sensors and computers but adds lockable hub-drive wheels at the feet, so it can roll across open ground at up to about 18 km/h and then lock the wheels to walk over stairs, slopes and rough terrain that wheels cannot handle.…
Who makes the DHAV-Hy?
The DHAV-Hy is made by xTerra Robotics, a robotics company based in India.
How much does the DHAV-Hy cost?
xTerra Robotics has not publicly announced pricing for the DHAV-Hy. You can enquire through RobotAIGeek for current pricing.
What is the DHAV-Hy used for?
The DHAV-Hy is designed for research, security, inspection, and patrol. It is used in energy, research, construction, and security & patrol settings.
How much does the DHAV-Hy weigh?
The DHAV-Hy weighs 22 kg.
How fast is the DHAV-Hy?
The DHAV-Hy can move at speeds of up to 18 km/h.
What is the battery life of the DHAV-Hy?
The DHAV-Hy runs for about 120 minutes on a charge.
How many degrees of freedom does the DHAV-Hy have?
The DHAV-Hy has 12 degrees of freedom.
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