Carnegie Mellon University Biorobotics Lab (USA) Snake Monster (1)

Not for saleLab research robot funded by DARPA's Maximum Mobility and Manipulation (M3) program. The later HEBI Daisy kit was the commercial descendant.

Not for sale (research)ResearchSeries-elastic modulesReconfigurableDARPA M3

Not for saleShipping: Not for sale. University research robot. The closest purchasable relative was HEBI's Daisy kit, now also off the catalog.

CMU Biorobotics Lab ↗CMU news (2015) ↗TechCrunch ↗

Overview

A six-legged walker built in about six months from the same series-elastic modules as CMU's modular snake robots, announced in January 2015 and shown at the DARPA Robotics Challenge finals. Because every joint senses force, it walks over rough ground with a simple tripod gait and no terrain map. The lab has reconfigured it with anywhere from two to twelve limbs, and the module team spun off as HEBI Robotics, whose Daisy hexapod descends from it.

Specifications

Category	Multi-legged robots · Research & legacy
Released	2015
Country	USA
Availability	Not for sale (research)
Programmability	No programmability
Best for	Professionals & labs
Vision sensors	No vision sensors
Actuators	Smart servos (Dynamixel, Feetech…)
Audio	No audio
Compute type	Laptop / PC as the brain
Compute	Modules networked over Ethernet, controlled from an off-board or onboard computer (details not published)
Weight	About 8 kg (18 lb)
Speed	Not published
Legs / DOF	18 series-elastic joint modules as a hexapod (3 per leg), reconfigurable from 2 to 12 limbs
Sensors	Joint position, velocity and torque sensing in every module, plus optional camera and gripper modules
SDK	Lab code only. A public ROS workspace simulates the SEA snake and SEA hexapod