The Block Diagram of Hykim's design is shown below.
There are 4 main modules within Hykim:
- HyInt - a processing module based around Compulab's CM-iGLX, N.B. this is also available as a standalone module that can be used in any robot that uses Dynamixel modules.
- Body Data Acquisition System (BDAQ),
- Head Data Aquisition System (HDAQ), and
- The network of RX Dynamixel modules.
These modules will be discussed in more detail on the following pages.