The Block Diagram of Hykim's design is shown below.

There are 4 main modules within Hykim:

1. 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.
2. Body Data Acquisition System (BDAQ),
3. Head Data Aquisition System (HDAQ), and
4. The network of RX Dynamixel modules.

These modules will be discussed in more detail on the following pages.