[{"data":1,"prerenderedAt":309},["ShallowReactive",2],{"\u002Fen\u002Fblog\u002Felf3-humanoid-robot-specifications":3},{"id":4,"title":5,"alt":6,"author":7,"body":8,"date":297,"description":298,"extension":299,"image":300,"keywords":301,"locale":302,"meta":303,"navigation":304,"path":305,"seo":306,"stem":307,"updated":302,"__hash__":308},"blog\u002Fblog\u002Fen\u002Felf3-humanoid-robot-specifications.md","Elf 3 Humanoid Robot: Full Specifications, Performance and Use Cases","BXI Elf 3 humanoid robot","BXI Robotics",{"type":9,"value":10,"toc":285},"minimark",[11,16,20,25,149,153,156,160,169,173,176,180,197,201,204,208,234,238,244,250,256,262,268,278],[12,13,15],"h1",{"id":14},"elf-3-humanoid-robot-full-specifications-and-applications","Elf 3 Humanoid Robot: Full Specifications and Applications",[17,18,19],"p",{},"The Elf 3 is BXI Robotics' high-performance, general-purpose humanoid robot, featuring an open SDK and a ready-to-deploy system architecture for embodied-AI research, education, and industrial validation. It is built on in-house joint motors, a PCIE-CANFD control architecture, and a ROS2 software stack, and supports both teleoperation and autonomous modes. This article summarizes its full specifications, a breakdown of each subsystem, and typical use cases for engineering and procurement teams.",[21,22,24],"h2",{"id":23},"specifications-at-a-glance","Specifications at a glance",[26,27,28,41],"table",{},[29,30,31],"thead",{},[32,33,34,38],"tr",{},[35,36,37],"th",{},"Parameter",[35,39,40],{},"Value",[42,43,44,53,61,69,77,85,93,101,109,117,125,133,141],"tbody",{},[32,45,46,50],{},[47,48,49],"td",{},"Total degrees of freedom",[47,51,52],{},"31 (excl. hands): 6 per leg + 7 per arm + 3 waist + 2 head",[32,54,55,58],{},[47,56,57],{},"Height",[47,59,60],{},"1450 mm",[32,62,63,66],{},[47,64,65],{},"Width × Depth",[47,67,68],{},"450 × 280 mm",[32,70,71,74],{},[47,72,73],{},"Weight",[47,75,76],{},"≈ 38 kg",[32,78,79,82],{},[47,80,81],{},"Max speed",[47,83,84],{},"5 m\u002Fs (~18 km\u002Fh)",[32,86,87,90],{},[47,88,89],{},"Single-arm payload",[47,91,92],{},"5 kg (horizontal, continuous) \u002F 10 kg (elbow-supported)",[32,94,95,98],{},[47,96,97],{},"Battery",[47,99,100],{},"518 Wh",[32,102,103,106],{},[47,104,105],{},"Runtime",[47,107,108],{},"≈ 1 hour (walking)",[32,110,111,114],{},[47,112,113],{},"Joint motors",[47,115,116],{},"31 × BXI hollow-shaft planetary motors (5014\u002F5018\u002F7010\u002F8515 series)",[32,118,119,122],{},[47,120,121],{},"Control rate",[47,123,124],{},"> 1000 Hz (PCIE-CANFD architecture)",[32,126,127,130],{},[47,128,129],{},"Onboard compute",[47,131,132],{},"Intel Core i7-1370P \u002F 16 GB \u002F 512 GB",[32,134,135,138],{},[47,136,137],{},"Sensors",[47,139,140],{},"RealSense D435i depth camera, IMU, 8-mic array",[32,142,143,146],{},[47,144,145],{},"Software",[47,147,148],{},"Ubuntu 22.04 + ROS2 SDK + MuJoCo simulation",[21,150,152],{"id":151},"degrees-of-freedom","Degrees of freedom",[17,154,155],{},"The 31 DOF break down as 6 per leg, 7 per arm, 3 in the waist, and 2 in the head. The 7-DOF arms enable more human-like manipulation trajectories and cover a wider range of grasping and working poses, while the 3-DOF waist improves whole-body coordination and reachable workspace, making motions like bending and twisting more natural.",[21,157,159],{"id":158},"joint-motors-the-power-behind-every-joint","Joint motors: the power behind every joint",[17,161,162,163,168],{},"The robot is driven by 31 in-house hollow-shaft planetary joint motors across three size series (85\u002F70\u002F50), with peak torque from 25 N·m to 150 N·m: high-torque models for load-bearing leg joints, lighter models for arms and end joints to keep inertia low. All use dual absolute encoders (magnetic input + inductive output) and cross-roller bearings, measuring the true output angle directly for high-accuracy closed-loop control and power-on without homing. For per-model specs and a selection method, see the ",[164,165,167],"a",{"href":166},"\u002Fen\u002Fblog\u002Fjoint-motor-selection-guide","BXI 85\u002F70\u002F50 joint motor selection guide",".",[21,170,172],{"id":171},"control-and-compute","Control and compute",[17,174,175],{},"The robot uses a PCIE-CANFD control architecture to achieve a >1000 Hz whole-body control rate, providing a low-latency command loop for dynamic balance and whole-body coordination. Onboard compute is an Intel Core i7-1370P with 16 GB of memory and 512 GB of storage, capable of running control and lightweight inference workloads on the body.",[21,177,179],{"id":178},"sensing-and-software","Sensing and software",[181,182,183,191],"ul",{},[184,185,186,190],"li",{},[187,188,189],"strong",{},"Sensing:"," the RealSense D435i depth camera provides RGB-D vision, the IMU is used for pose and balance estimation, and the 8-mic array supports voice interaction and sound-source localization.",[184,192,193,196],{},[187,194,195],{},"Software stack:"," built on Ubuntu 22.04 + ROS2, with a hardware control SDK and a MuJoCo simulation environment that support sim-to-real algorithm transfer, plus MIT-protocol-compatible CANFD communication.",[21,198,200],{"id":199},"mobility-and-payload","Mobility and payload",[17,202,203],{},"A top speed of 5 m\u002Fs (~18 km\u002Fh), single-arm payload of 5 kg (horizontal, continuous) \u002F 10 kg (elbow-supported), and a 518 Wh battery for about 1 hour of walking runtime balance mobility with real working payload.",[21,205,207],{"id":206},"typical-use-cases","Typical use cases",[181,209,210,216,222,228],{},[184,211,212,215],{},[187,213,214],{},"Embodied-AI research:"," an open ROS2 SDK and MuJoCo simulation environment support sim-to-real transfer for reinforcement learning and motion-control algorithms.",[184,217,218,221],{},[187,219,220],{},"Education and training:"," the ready-to-deploy architecture lowers the barrier to entry for university and vocational humanoid-robotics courses.",[184,223,224,227],{},[187,225,226],{},"Teleoperation and data collection:"," both teleoperation and autonomous modes are supported for manipulation data collection and demonstration.",[184,229,230,233],{},[187,231,232],{},"Industrial validation:"," as a mature whole-robot platform, it serves as a feasibility-validation and secondary-development baseline for embodied solutions.",[21,235,237],{"id":236},"faq","FAQ",[17,239,240,243],{},[187,241,242],{},"How many degrees of freedom does the Elf 3 have?"," 31 DOF excluding hands: 6 per leg, 7 per arm, 3 waist, 2 head.",[17,245,246,249],{},[187,247,248],{},"How fast is it and how much can it carry?"," Top speed of 5 m\u002Fs (~18 km\u002Fh), single-arm payload 5 kg (horizontal, continuous) \u002F 10 kg (elbow-supported).",[17,251,252,255],{},[187,253,254],{},"What is the runtime?"," A 518 Wh battery for about 1 hour of walking.",[17,257,258,261],{},[187,259,260],{},"Which joint motors does it use?"," 31 in-house BXI hollow-shaft planetary joint motors (5014\u002F5018\u002F7010\u002F8515 series), with 25–150 N·m peak torque.",[17,263,264,267],{},[187,265,266],{},"Can the Elf 3 be developed on?"," Yes. It ships with a ROS2-based hardware control SDK and a MuJoCo simulation environment, and uses MIT-protocol-compatible CANFD communication.",[17,269,270,273,274,168],{},[187,271,272],{},"Is OEM\u002FODM customization available?"," Yes — branded customization is offered with the Elf 3 as a mature baseline. See the ",[164,275,277],{"href":276},"\u002Fen\u002Fblog\u002Fhumanoid-robot-oem-process","humanoid robot OEM\u002FODM process",[17,279,280,281,168],{},"For the full datasheet, a quote, or an OEM\u002FODM solution, ",[164,282,284],{"href":283},"\u002Fen\u002Fcontact","contact us",{"title":286,"searchDepth":287,"depth":287,"links":288},"",2,[289,290,291,292,293,294,295,296],{"id":23,"depth":287,"text":24},{"id":151,"depth":287,"text":152},{"id":158,"depth":287,"text":159},{"id":171,"depth":287,"text":172},{"id":178,"depth":287,"text":179},{"id":199,"depth":287,"text":200},{"id":206,"depth":287,"text":207},{"id":236,"depth":287,"text":237},"2026-06-22","Complete technical specifications of the BXI Elf 3 humanoid robot: 31 degrees of freedom, 1450 mm height, ~38 kg weight, 5 m\u002Fs top speed, 518 Wh runtime, 31 in-house hollow-shaft joint motors, PCIE-CANFD >1000 Hz control and a ROS2 SDK for research, education and embodied AI.","md","\u002Frobots\u002Fhumanoid-robot\u002Fnew-humanoid-robot-elf-3.webp","humanoid robot, Elf 3, humanoid robot specifications, embodied intelligence, bipedal robot, BXI Robotics, ROS2 humanoid robot, humanoid robot specs",null,{},true,"\u002Fblog\u002Fen\u002Felf3-humanoid-robot-specifications",{"title":5,"description":298},"blog\u002Fen\u002Felf3-humanoid-robot-specifications","S5CmTqiV4dHgDQQdgmVuF7pU4lDkepJrmrMPu-SEUKU",1782300801335]