[{"data":1,"prerenderedAt":302},["ShallowReactive",2],{"\u002Fblog\u002Felf3-humanoid-robot-specifications":3},{"id":4,"title":5,"alt":6,"author":7,"body":8,"date":290,"description":291,"extension":292,"image":293,"keywords":294,"locale":295,"meta":296,"navigation":297,"path":298,"seo":299,"stem":300,"updated":295,"__hash__":301},"blog\u002Fblog\u002Fzh\u002Felf3-humanoid-robot-specifications.md","Elf 3 人形机器人完整规格、性能与应用场景","BXI 半醒科技 Elf 3 人形机器人","BXI Robotics",{"type":9,"value":10,"toc":278},"minimark",[11,16,20,24,148,151,154,158,167,170,173,176,193,196,199,202,228,231,237,243,249,255,261,271],[12,13,15],"h1",{"id":14},"elf-3-人形机器人完整规格与应用","Elf 3 人形机器人完整规格与应用",[17,18,19],"p",{},"Elf 3 是 BXI 半醒科技推出的高性能通用人形机器人,具备开放式 SDK 与即插即用系统架构,面向具身智能研究、教育实训与工业场景验证。整机以自研关节电机、PCIE-CANFD 控制架构与 ROS2 软件栈为底座,支持遥操作与自主两种运行模式。本文整理其完整技术规格、各子系统解读与典型应用,供研发与采购团队快速评估。",[21,22,23],"h2",{"id":23},"核心规格一览",[25,26,27,40],"table",{},[28,29,30],"thead",{},[31,32,33,37],"tr",{},[34,35,36],"th",{},"参数",[34,38,39],{},"数值",[41,42,43,52,60,68,76,84,92,100,108,116,124,132,140],"tbody",{},[31,44,45,49],{},[46,47,48],"td",{},"全身自由度",[46,50,51],{},"31（不含手）：单腿 6 + 单臂 7 + 腰 3 + 头 2",[31,53,54,57],{},[46,55,56],{},"身高",[46,58,59],{},"1450 mm",[31,61,62,65],{},[46,63,64],{},"宽 × 厚",[46,66,67],{},"450 × 280 mm",[31,69,70,73],{},[46,71,72],{},"整机重量",[46,74,75],{},"约 38 kg",[31,77,78,81],{},[46,79,80],{},"最大速度",[46,82,83],{},"5 m\u002Fs（约 18 km\u002Fh）",[31,85,86,89],{},[46,87,88],{},"单臂负载",[46,90,91],{},"5 kg（水平连续）\u002F 10 kg（屈肘支撑）",[31,93,94,97],{},[46,95,96],{},"电池容量",[46,98,99],{},"518 Wh",[31,101,102,105],{},[46,103,104],{},"续航",[46,106,107],{},"约 1 小时（步行）",[31,109,110,113],{},[46,111,112],{},"关节电机",[46,114,115],{},"31 台 BXI 中空行星关节电机（5014\u002F5018\u002F7010\u002F8515 系列）",[31,117,118,121],{},[46,119,120],{},"控制频率",[46,122,123],{},"＞1000 Hz（PCIE-CANFD 架构）",[31,125,126,129],{},[46,127,128],{},"运算平台",[46,130,131],{},"Intel Core i7-1370P \u002F 16 GB \u002F 512 GB",[31,133,134,137],{},[46,135,136],{},"传感器",[46,138,139],{},"RealSense D435i 深度相机、IMU、8 麦克风阵列",[31,141,142,145],{},[46,143,144],{},"软件",[46,146,147],{},"Ubuntu 22.04 + ROS2 SDK + MuJoCo 仿真",[21,149,150],{"id":150},"自由度分布",[17,152,153],{},"Elf 3 全身 31 个自由度的分布为:每条腿 6 个、每条手臂 7 个、腰部 3 个、头部 2 个。7 自由度手臂支持更接近人类的灵巧操作轨迹,可覆盖更丰富的抓取与作业姿态;3 自由度腰部提升了全身协调与可达作业空间,使弯腰、转体等动作更自然。",[21,155,157],{"id":156},"关节电机全身动力来源","关节电机:全身动力来源",[17,159,160,161,166],{},"整机由 31 台自研中空轴行星减速关节电机驱动,覆盖 85\u002F70\u002F50 三个尺寸系列,峰值扭矩从 25 N·m 到 150 N·m:腿部承力关节用大扭矩型号,手臂与末端用轻量型号以压低惯量。全系配备双绝对值编码器(磁式输入 + 电感式输出)与交叉滚子轴承,直接在输出端测量真实角度,实现高精度闭环与上电免归零。各型号参数与选型方法详见",[162,163,165],"a",{"href":164},"\u002Fblog\u002Fjoint-motor-selection-guide","BXI 85\u002F70\u002F50 系列关节电机选型指南","。",[21,168,169],{"id":169},"控制与算力",[17,171,172],{},"整机采用 PCIE-CANFD 控制架构,实现 >1000 Hz 的高频全身控制,为动态平衡与全身协调提供低时延的指令回路。机载算力为 Intel Core i7-1370P、16 GB 内存与 512 GB 存储,可在本体上运行控制与轻量推理负载。",[21,174,175],{"id":175},"感知与软件",[177,178,179,187],"ul",{},[180,181,182,186],"li",{},[183,184,185],"strong",{},"传感","：RealSense D435i 深度相机提供 RGB-D 视觉,IMU 用于姿态与平衡估计,8 麦克风阵列支持语音交互与声源定位。",[180,188,189,192],{},[183,190,191],{},"软件栈","：基于 Ubuntu 22.04 + ROS2,提供硬件控制 SDK 与 MuJoCo 仿真环境,支持从仿真到实机(sim-to-real)的算法迁移,并兼容 MIT 协议的 CANFD 通信。",[21,194,195],{"id":195},"移动与负载",[17,197,198],{},"最大速度 5 m\u002Fs(约 18 km\u002Fh),单臂负载 5 kg(水平连续)\u002F 10 kg(屈肘支撑),518 Wh 电池支持约 1 小时步行续航,兼顾移动能力与实际作业负载。",[21,200,201],{"id":201},"典型应用场景",[177,203,204,210,216,222],{},[180,205,206,209],{},[183,207,208],{},"具身智能研究","：开放式 ROS2 SDK 与 MuJoCo 仿真环境,支持强化学习与运动控制算法的仿真到实机迁移。",[180,211,212,215],{},[183,213,214],{},"教育与实训","：即插即用架构降低上手门槛,适合高校与职业院校的人形机器人课程。",[180,217,218,221],{},[183,219,220],{},"遥操作与数据采集","：支持遥操作与自主两种模式,可用于操作数据采集与示教。",[180,223,224,227],{},[183,225,226],{},"工业场景验证","：作为成熟整机平台,可用于具身方案的可行性验证与二次开发基线。",[21,229,230],{"id":230},"常见问题",[17,232,233,236],{},[183,234,235],{},"Elf 3 有多少个自由度?"," 全身 31 个自由度(不含手):单腿 6、单臂 7、腰 3、头 2。",[17,238,239,242],{},[183,240,241],{},"Elf 3 跑多快、能扛多重?"," 最大速度 5 m\u002Fs(约 18 km\u002Fh),单臂负载 5 kg(水平连续)\u002F 10 kg(屈肘支撑)。",[17,244,245,248],{},[183,246,247],{},"续航多久?"," 518 Wh 电池,步行约 1 小时。",[17,250,251,254],{},[183,252,253],{},"用什么关节电机?"," 31 台 BXI 自研中空轴行星关节电机(5014\u002F5018\u002F7010\u002F8515 系列),峰值扭矩 25–150 N·m。",[17,256,257,260],{},[183,258,259],{},"Elf 3 支持二次开发吗?"," 支持。提供基于 ROS2 的硬件控制 SDK 与 MuJoCo 仿真环境,并兼容 MIT 协议的 CANFD 通信。",[17,262,263,266,267,166],{},[183,264,265],{},"能否做 OEM\u002FODM 定制?"," 可以,以 Elf 3 为成熟基线提供品牌化定制,详见",[162,268,270],{"href":269},"\u002Fblog\u002Fhumanoid-robot-oem-process","人形机器人 OEM\u002FODM 全流程",[17,272,273,274,166],{},"需要完整规格书、报价或 OEM\u002FODM 方案,欢迎",[162,275,277],{"href":276},"\u002Fcontact","联系我们",{"title":279,"searchDepth":280,"depth":280,"links":281},"",2,[282,283,284,285,286,287,288,289],{"id":23,"depth":280,"text":23},{"id":150,"depth":280,"text":150},{"id":156,"depth":280,"text":157},{"id":169,"depth":280,"text":169},{"id":175,"depth":280,"text":175},{"id":195,"depth":280,"text":195},{"id":201,"depth":280,"text":201},{"id":230,"depth":280,"text":230},"2026-06-22","BXI 半醒科技 Elf 3 人形机器人完整技术规格：31 个自由度、1450 mm 身高、约 38 kg 重量、5 m\u002Fs 最高速度、518 Wh 续航,搭载 31 台自研中空轴关节电机、PCIE-CANFD >1000 Hz 控制与 ROS2 SDK,面向科研、教育与具身智能落地。","md","\u002Frobots\u002Fhumanoid-robot\u002Fnew-humanoid-robot-elf-3.webp","人形机器人, Elf 3, 人形机器人规格, 具身智能, 双足机器人, 半醒科技, ROS2 人形机器人, 人形机器人参数",null,{},true,"\u002Fblog\u002Fzh\u002Felf3-humanoid-robot-specifications",{"title":5,"description":291},"blog\u002Fzh\u002Felf3-humanoid-robot-specifications","zBaaqmbFkim-ASxPWJB1loEiXvjA2KHLbHw3CEkVXkc",1782300801285]