Hardware Configuration
BXI Elf3 is a mid-sized humanoid robot standing 1.45 m tall, with motion parameters comparable to a person of similar height. It is designed for highly dynamic motion and open development.
Key features
Highly dynamic motion31 hollow planetary joint motors enable running, jumping, backflips and parkour
Lightweight skeletal designMinimal weight; attach custom shells to change the look or mount extra devices
High reliabilityHollow cable routing greatly reduces harnesses; fall-resistant design
High-speed busPCIe–CAN FD with whole-body control above 1,000 Hz
Hot-swap batterySwap batteries without powering off for continuous operation
Open development interfacesDirect motor control via CAN FD / MIT protocol, ROS 2 SDK and one-click MuJoCo deployment
Dimensions & motion
| Item | Specification |
|---|
| Height | 1,450 mm |
| Width | 450 mm |
| Depth | 280 mm |
| Thigh / shin length | 320 mm / 320 mm |
| Upper arm / forearm length | 240 mm / 240 mm |
| Total weight | Approx. 38 kg |
| Max. speed | Over 4 m/s (approx. 13 km/h) |
| Arm payload | 5 kg arm extended, 10 kg elbow supported (10 continuous cycles each) |
Degrees of freedom
| Item | Specification |
|---|
| Total DoF | 31 (including 2-DoF neck) |
| Per leg | 6 (hip XYZ ×3 + knee Y ×1 + ankle XY ×2) |
| Per arm | 7 (shoulder YXZ ×3 + elbow Y ×1 + wrist XYZ ×3) |
| Joint motors | Hollow planetary series |
Electrical
| Item | Specification |
|---|
| Max. voltage | 58.8 V |
| Rated current | 50 A |
| Max. current | > 100 A |
| Battery | 518 Wh lithium |
| Runtime | Approx. 1 hour walking |
| Hot swap | Supported |
Control communication
| Item | Specification |
|---|
| Architecture | PCIe–CAN FD、FPGA |
| System control rate | > 1,000 Hz |
Compute
| Item | Specification |
|---|
| CPU | Intel Core i7-1370P (13th gen, 14 cores / 20 threads, up to 5.2 GHz) |
| Memory | 16 GB DDR4 3200 MHz |
| Storage | 512 GB |
| GPU (integrated) | Intel Iris Xe Graphics（96 EU） |
| GPU / NPU (expansion) | NVIDIA Jetson series supported (optional or user-installed) |
IMU
| Item | Specification |
|---|
| Operating voltage | 3.3〜5.5 V |
| Operating temperature | −40〜85 ℃ |
| Interface | UART / CAN |
| Accelerometer | ±12 g (0.001 g resolution) |
| Gyroscope | ±2,000 °/s (0.001 °/s resolution) |
| Magnetometer | ±8 Gs (0.25 mg resolution) |
| Barometer | 300–1,100 hPa (0.06 Pa resolution) |
Sensors & peripherals
| Item | Specification |
|---|
| Depth camera | Intel RealSense D435i |
| LiDAR | Optional (Livox Mid-360) |
| Microphone | 8-channel omnidirectional microphone array |
| Speaker | Active speaker (DC 5 V) |
| Wi-Fi / Bluetooth | Onboard |
Software
| Item | Specification |
|---|
| OS | Ubuntu 22.04 |
| Motor interface | CAN FD SDK, MIT protocol (torque / position / velocity / temperature) |
| Robot framework | ROS 2-based hardware control node SDK |
| Simulation | MuJoCo-based RL training and deployment framework |
| Pre-installed | Flat-ground walking and running |
| URDF | Provided |
Accessories
| Item | Notes |
|---|
| Dexterous hand | Paid option |
| Gamepad (Xbox-compatible) | Included |
| Tablet control app | Included |
Documentation