Dhav-Hy wheeled-legged robot standing on hub-drive wheels in a forest, xTerra Robotics
Dhav-Hy / PRE-SALES OPEN
xTerra Robotics / WHEELED-LEGGED PLATFORM

ROLL FAST,WALK ANYWHERE.

The wheeled-legged variant of DHAV, engineered to roll fast over open ground and walk across the terrain wheels can’t.

Dhav-Hy / HYBRID PLATFORMLEGS + HUB-DRIVE WHEELSSCROLL TO EXPLORE ↓
01 / THE PURPOSEOPEN GROUND / ROUGH TERRAIN

SPEED WHERE
IT’S OPEN.
LEGS WHERE IT’S NOT.

Dhav-Hy / HYBRID MOBILITY

Dhav-Hy shares the DHAV platform and adds hub-drive wheels, so one robot can cover large areas quickly and still climb stairs and cross rough ground.

SECURITY◆SURVEILLANCE◆CONSTRUCTION◆INDUSTRIAL INSPECTION◆INFRASTRUCTURE◆SECURITY◆SURVEILLANCE◆CONSTRUCTION◆
02 / THE PLATFORMDhav-Hy / WHEELED-LEGGED
ONE PLATFORM / FIVE LAYERS

BUILT AS
A SYSTEM.

Dhav-Hy brings mobility, sensing, edge compute, autonomy and operator control into one field robotics architecture. Pre-sales conversations are open now.

Dhav-Hy wheeled-legged robot rolling at speed across open forest ground
Dhav-Hy / HYBRID PLATFORM
LAYER 01 / MOBILITY
LEGGED + WHEELED

Hub-drive wheels for speed on open ground, and 12 quasi-direct-drive leg actuators for stairs and rough terrain. Switch between rolling and walking in the field.

  • ~18 KM/H WHEELED SPEED
  • 30 CM STEP HEIGHT
  • ~45° CLIMB / DESCENT
VIEW SPECIFICATIONS ↓
03 / THE MISSIONSONE PLATFORM / MANY ENVIRONMENTS

MISSION
DEFINES THE SYSTEM.

SELECT / EXPLORE
Dhav-Hy wheeled-legged robot on patrol along a barricaded plaza
MISSION / 01SECURITY & SURVEILLANCEDhav-Hy / PATROL
04 / IN THE FIELDDhav-Hy / FIELD FOOTAGE
Dhav-Hy / IN ACTION

SEE IT
IN MOTION.

Watch Dhav-Hy take on rough terrain, slopes and stairs.

05 / THE INTELLIGENCEAUTONOMY / ROS2
Dhav-Hy / AUTONOMY STACK

INTELLIGENCE
AT THE EDGE.

Built around on-board perception, navigation and a ROS2 + Python / C++ SDK, so operators can focus on intent while the platform handles the complexity of movement and sensing.

INPUT / 01HUMAN
INTENTMISSION OBJECTIVE
01PERCEPTION↓
02UNDERSTANDING↓
03PLANNING↓
04ACTION→
OUTPUT / 04FIELD
ACTIONHUMAN-DIRECTED

CONCEPTUAL ARCHITECTURE / CAPABILITIES SUBJECT TO ENGINEERING DEVELOPMENT

06 / PERCEPTION INTERFACE
PERCEPTION / CONCEPT

SEE THE
MISSION.

A conceptual visualization of how LiDAR, depth sensing, path planning and mission context could come together in an operator-directed system.

Dhav-Hy / PERCEPTIONCAM 01 / WIDEDEMO ENVIRONMENT
PERSON / 12.4m
OBSTACLE / 8.1m
STRUCTURE
WP-04
SAFE PATH / COMPUTINGLIDAR / 360°WAYPOINT / 04

CONCEPTUAL INTERFACE / DEVELOPMENT VISUAL

07 / OPERATOR EXPERIENCEINTERFACE / CONCEPT
HUMAN / MACHINE

DIRECT THE
MISSION.

A conceptual command environment built around clarity, mission context and human intent. All values shown are placeholders.

Dhav-Hy/OPS
LINK / CONNECTED
UNIT / Dhav-Hy-001
OVERVIEW / ACTIVEDEMO / CONCEPT
18°32'42.1"N
73°51'24.4"E
CAM / 01
OVERVIEW FEED
MISSION TIMELINE
00:12:42 / --:--:--
WAYPOINT03

CONCEPTUAL Dhav-Hy OPERATOR INTERFACE / PLACEHOLDER DATA

Dhav-Hy side profile showing hub-drive wheels and leg actuatorsDhav-Hy head module and sensor housing close-up on forest ground
08 / TECHNICAL SPECIFICATIONSDhav-Hy / INDICATIVE

ENGINEERED FOR
THE REAL WORLD.

Technical specifications for the Dhav-Hy platform. Figures are indicative and confirmed at order.

Mobility modesLegged + wheeled (hub-drive wheels with lock)Switch between walking and rolling in the field
Ground contactFoot pads + drive wheelsWheels for speed on open ground, legs for stairs and rough terrain
Max wheeled speed~18 km/h (5.0 m/s)Flat terrain, wheeled mode
Gait configurationsTrot + custom gaits + wheeled rollingVia motion controllers
Weight~23 kgIncluding battery
Build materialHigh-strength aluminum alloyBody + legs structural framework
Actuators (DoF)12 quasi-direct-drive leg actuators3 per leg: 2× hip, 1× knee, plus wheel hub drives
Max leg joint torqueHip/thigh 40 Nm · Knee 80 NmField-oriented control (FOC), joint level
Joint range of motionHip abd/add −55° to 55° · hip flex/ext −200° to 90° · knee flex/ext −156° to −50°Positive rotation anti-clockwise
Climb / descent angle~45°Legged mode, without payload
Stair-climbing capabilityUp to 30 cm step heightLegged mode, standard stair geometry
Battery type & packLithium-ion 7S4P~25.2 VDC nominal (29.4 V max), 20 Ah / ~504 Wh
Battery managementSmart BMS (7S–24S, 100 A)80 A peak charge/discharge
Swappable batteryYesQuick-swap design, external charger
Charging time90 minutes (0–100%)Fast charging supported
Minimum endurance≥120 minutesFlat terrain, no payload, 25–30 °C
Power managementAuto power-saver modeSleep mode while idle
3D LiDAR360° FOV, high-precisionRange 40 m @10% / 70 m @80% reflectivity · precision ≤3 cm
Stereo depth + RGB camera0.26 – 3 m rangeDepth FOV 90°×65° · up to 1280×800 @30fps
IMU6-axis, high-precisionStabilization and navigation
Joint encodersMagnetic, on-axis≥14-bit resolution per joint
On-board navigation computerNVIDIA Jetson AI compute module1024 CUDA + 32 Tensor cores · 8 GB LPDDR5
On-board locomotion computerBCM2712 quad-core Cortex-A76 @2.4GHz8 GB LPDDR4-4267 · GbE PHY · dual USB 3.0
Joint-level controlField-oriented control (FOC)Real-time motor control loops
ROS supportROS2Fully integrated framework
Software SDKPython & C++ APIsFor secondary development and control
Simulation modelsURDF availableGeometric + dynamic models for sim-to-real
Robot connectivityWi-Fi & Gigabit EthernetHigh-bandwidth wireless and wired comms
External payload interfaces2× Ethernet, 1× USB, power outlet (12V & 24V)Dedicated expansion power and data ports
Remote tele-operationRF Joystick + Web Long-Range TeleopDual control modality
Emergency safetyPhysical kill switchHardware emergency power cutoff
Operating temperature0°C to 50°CIndustrial operating range
Cooling systemActive torso fan coolingThermal management under load
09 / CONTACTDhav-Hy / PRE-SALES
PRE-SALES / NOW OPEN

BRING US
THE MISSION.

Ready to bring Dhav-Hy into your operations? Say hi to join the pre-sales conversation.

REQUEST PRE-SALES ACCESS