# BXI Robotics (半醒科技)

> BXI Robotics (Chinese: 半醒科技), founded 2022 in Huangpu, Shanghai, China, designs and manufactures humanoid robots, high-performance hollow-shaft joint motors, robot control modules, and turnkey OEM/ODM robot solutions for embodied-AI applications.

BXI builds its whole-robot stack in-house — humanoid platform, joint actuators, and motion-control electronics — and offers it both as finished products and as branded OEM/ODM solutions. Canonical site: https://www.bxirobotics.cn (Chinese default, English under /en/). Business contact: contact@bxirobotics.com

## Products

- Elf 3 humanoid robot: a ready-to-use general-purpose humanoid with 31 degrees of freedom across the body (6 per leg, 7 per arm, 3 waist, 2 head), 1450 mm tall, ~38 kg, up to 5 m/s, 518 Wh battery, >1000 Hz whole-body control over PCIE-CANFD, Ubuntu 22.04 + ROS2 SDK + MuJoCo simulation; supports teleoperation and autonomous modes.
- Joint motors (85/70/50 series): in-house quasi-direct-drive (QDD) hollow-shaft planetary joint actuators — BXI8515-19 (150 N·m peak, 1.4 kg, ~107 N·m/kg peak torque density), BXI7010-19 (50 N·m, 0.8 kg), BXI5018-19 (35 N·m, 0.55 kg), BXI5014-19 (25 N·m, 0.5 kg) — 19.5 reduction ratio, 24–48 V, dual absolute encoders (input + output, no homing on power-up), cross-roller bearings, hollow bore for cable routing, CAN/CANFD with MIT-protocol force control. Suitable for humanoid, quadruped, robot-arm, and exoskeleton joints.
- PCIE-CAN control module: supports up to 24 CAN buses at a 1KHz control rate for low-latency, high-bandwidth communication on high-DOF robots; plug-and-play and cost-friendly.
- UpperBody 1 robotic arms: a dual-arm leader-follower teleoperation platform for complex bimanual manipulation and embodied-AI data collection (imitation-learning demonstrations), paired with a plug-and-play operator console.
- Custom robot OEM/ODM: turnkey humanoid robot contract manufacturing with customizable exterior, structure, and performance parameters; delivery schedules depend on project scope, validation, supply chain, and certification requirements; low-volume production supported.

## Pages (Chinese / English)

- [Home](https://www.bxirobotics.cn/) / [EN](https://www.bxirobotics.cn/en)
- [About BXI Robotics](https://www.bxirobotics.cn/about) / [EN](https://www.bxirobotics.cn/en/about)
- [Humanoid robot — Elf 3](https://www.bxirobotics.cn/robots/humanoid-robot) / [EN](https://www.bxirobotics.cn/en/robots/humanoid-robot)
- [Robotic arms — UpperBody 1](https://www.bxirobotics.cn/robots/robotic-arms) / [EN](https://www.bxirobotics.cn/en/robots/robotic-arms)
- [Joint motors — 85/70/50 series](https://www.bxirobotics.cn/motors/advanced-motors) / [EN](https://www.bxirobotics.cn/en/motors/advanced-motors)
- [Joint motor BXI8515-19 (150 N·m peak)](https://www.bxirobotics.cn/motors/bxi8515-19) / [EN](https://www.bxirobotics.cn/en/motors/bxi8515-19)
- [Joint motor BXI7010-19 (50 N·m peak)](https://www.bxirobotics.cn/motors/bxi7010-19) / [EN](https://www.bxirobotics.cn/en/motors/bxi7010-19)
- [Joint motor BXI5018-19 (35 N·m peak)](https://www.bxirobotics.cn/motors/bxi5018-19) / [EN](https://www.bxirobotics.cn/en/motors/bxi5018-19)
- [Joint motor BXI5014-19 (25 N·m peak)](https://www.bxirobotics.cn/motors/bxi5014-19) / [EN](https://www.bxirobotics.cn/en/motors/bxi5014-19)
- [PCIE-CAN control modules](https://www.bxirobotics.cn/motors/control-modules) / [EN](https://www.bxirobotics.cn/en/motors/control-modules)
- [Custom robot OEM/ODM](https://www.bxirobotics.cn/custom-robot-oem) / [EN](https://www.bxirobotics.cn/en/custom-robot-oem)
- [Robotics glossary](https://www.bxirobotics.cn/glossary) / [EN](https://www.bxirobotics.cn/en/glossary)
- [Blog](https://www.bxirobotics.cn/blog) / [EN](https://www.bxirobotics.cn/en/blog)
- [Contact](https://www.bxirobotics.cn/contact) / [EN](https://www.bxirobotics.cn/en/contact)

## Blog posts

- [人形机器人髋膝关节电机选型与扭矩计算](https://www.bxirobotics.cn/blog/humanoid-hip-knee-joint-motor-guide): 50–80 kg 人形机器人髋膝关节如何选型？本文提供扭矩估算、额定与峰值区别、QDD 减速比和 BXI 型号参考。
- [2026 人形机器人价格指南｜3 万到 65 万元怎么选](https://www.bxirobotics.cn/blog/humanoid-robot-price-guide): 2026 年人形机器人价格参考：消费与教育级约 3–10 万元，科研平台约 10–65 万元，并说明自由度、关节、传感器和软件如何影响报价。
- [机器狗与外骨骼关节电机选型指南](https://www.bxirobotics.cn/blog/quadruped-exoskeleton-actuator-guide): 四足机器人和外骨骼关节电机如何选？本文比较反驱性、扭矩、重量与走线需求，并给出 QDD 执行器和 BXI 型号参考。
- [Elf 3 人形机器人完整规格、性能与应用场景](https://www.bxirobotics.cn/blog/elf3-humanoid-robot-specifications): 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/s 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。
- [BXI 85/70/50 系列关节电机选型指南](https://www.bxirobotics.cn/blog/joint-motor-selection-guide): 对比 BXI 85/70/50 系列关节电机的额定与峰值扭矩、重量、尺寸、编码器和 CAN/CANFD 支持，辅助机器人关节选型。
- [人形机器人 OEM/ODM 流程与交付范围](https://www.bxirobotics.cn/blog/humanoid-robot-oem-process): 了解 BXI 人形机器人 OEM/ODM 的需求沟通、方案设计、整机集成、验证与交付流程，以及可定制范围和周期影响因素。
- [你好，世界：BXI Robotics 博客正式上线](https://www.bxirobotics.cn/blog/hello-world): 这是我们全新博客的第一篇文章。在这里，我们将分享关于人形机器人和具身智能的最新动态。
- [Humanoid Hip and Knee Actuator Sizing Guide](https://www.bxirobotics.cn/en/blog/humanoid-hip-knee-joint-motor-guide): How much torque does a robot knee need? 100–150 N·m+ peak for 50–80 kg humanoids. Joint-by-joint torque table, rated vs peak sizing, and QDD actuator picks.
- [Humanoid Robot Cost in 2026: $4k–$90k Guide](https://www.bxirobotics.cn/en/blog/humanoid-robot-price-guide): 2026 humanoid robot prices range from about $4k for compact models to $90k+ for full-size research platforms. Compare cost drivers and buying criteria.
- [Robot Dog and Exoskeleton Actuator Guide](https://www.bxirobotics.cn/en/blog/quadruped-exoskeleton-actuator-guide): Compare torque, backdrivability, mass, and cable routing for quadruped and exoskeleton actuators, with QDD sizing guidance and BXI model examples.
- [Elf 3 Humanoid Robot: Full Specifications, Performance and Use Cases](https://www.bxirobotics.cn/en/blog/elf3-humanoid-robot-specifications): Complete technical specifications of the BXI Elf 3 humanoid robot: 31 degrees of freedom, 1450 mm height, ~38 kg weight, 5 m/s 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.
- [BXI 85/70/50 Joint Motor Selection Guide](https://www.bxirobotics.cn/en/blog/joint-motor-selection-guide): Compare BXI 85/70/50 joint motors by rated and peak torque, weight, dimensions, encoder design, and CAN/CANFD support for robot joint selection.
- [Humanoid Robot OEM/ODM Process and Scope](https://www.bxirobotics.cn/en/blog/humanoid-robot-oem-process): Learn how BXI handles humanoid robot OEM/ODM requirements, design, integration, validation, delivery, customization scope, and schedule factors.
- [Hello World: BXI Robotics Blog is Live](https://www.bxirobotics.cn/en/blog/hello-world): This is the first post of our brand new blog. Here we will share the latest updates on humanoid robots and embodied AI.

## Glossary

- [空心杯电机](https://www.bxirobotics.cn/glossary/coreless-motor): 空心杯电机采用无铁芯杯状绕组，具有低惯量、低齿槽和快速响应特点，常用于灵巧手等小型精密驱动。
- [交叉滚子轴承](https://www.bxirobotics.cn/glossary/crossed-roller-bearing): 交叉滚子轴承将圆柱滚子以 90° 交替排列在 V 形滚道中，单个轴承即可同时承受径向、轴向与倾覆力矩载荷，为机器人关节提供高刚度与高回转精度。
- [自由度（DoF）](https://www.bxirobotics.cn/glossary/degrees-of-freedom): 自由度是描述机器人可独立运动的关节轴数量的指标，直接决定动作能力：6 自由度机械臂可达任意位姿，人形机器人通常需要 30 个以上自由度实现全身协调。
- [灵巧手](https://www.bxirobotics.cn/glossary/dexterous-hand): 灵巧手是模仿人手结构与功能的多自由度机器人末端执行器，用于抓取、工具操作和精细交互任务。
- [双绝对值编码器](https://www.bxirobotics.cn/glossary/dual-absolute-encoder): 双绝对值编码器指在关节电机的输入端与输出端各布置一颗绝对值编码器，直接测量减速后的真实关节角度，实现高精度闭环与上电免归零。
- [具身智能](https://www.bxirobotics.cn/glossary/embodied-ai): 具身智能指智能体通过物理身体与环境交互来感知、决策与行动的人工智能范式，人形机器人是其最重要的载体，强调感知-决策-执行闭环在真实世界中的落地。
- [力控（阻抗控制 / 导纳控制）](https://www.bxirobotics.cn/glossary/force-control): 机器人力控通过力矩、阻抗或导纳控制实现柔顺交互；QDD 关节可结合电机模型与相电流估算输出扭矩。
- [无框力矩电机](https://www.bxirobotics.cn/glossary/frameless-torque-motor): 无框力矩电机仅包含定子和转子，可直接集成到机器人关节结构中，减少外壳与传动部件并提高集成度。
- [谐波减速器](https://www.bxirobotics.cn/glossary/harmonic-drive): 谐波减速器利用柔轮弹性变形实现高减速比和低背隙，常用于机器人手臂；动态腿部则更重视反驱与冲击性能。
- [中空轴电机](https://www.bxirobotics.cn/glossary/hollow-shaft-motor): 中空轴电机是输出轴中心带贯通孔的电机结构，线缆、气管与传感线束可从关节中心穿过，大幅简化机器人布线并增大关节活动范围。
- [关节电机](https://www.bxirobotics.cn/glossary/joint-motor): 关节电机是集成电机、减速器、编码器与驱动器的一体化机器人执行器，直接安装在机器人关节处提供旋转动力，是人形机器人与机械臂的核心动力部件。
- [MIT 协议（CAN 电机控制）](https://www.bxirobotics.cn/glossary/mit-protocol-can): MIT 协议是源自 MIT Mini Cheetah 开源项目的 CAN 总线电机控制协议，用一帧指令同时下发位置、速度、前馈扭矩与增益，实现力位混合控制，已成为机器人关节电机的事实标准之一。
- [行星减速器](https://www.bxirobotics.cn/glossary/planetary-gearbox): 行星减速器由太阳轮、行星轮与内齿圈组成，多齿同时啮合、输入输出同轴，兼顾高扭矩密度、紧凑结构与高效率，是机器人关节电机的主流减速方案之一。
- [准直驱执行器（QDD）](https://www.bxirobotics.cn/glossary/quasi-direct-drive): 准直驱执行器采用大扭矩电机与约 5–20 的低减速比，兼顾扭矩密度、反驱性和基于电流的扭矩估算。
- [反射惯量](https://www.bxirobotics.cn/glossary/reflected-inertia): 反射惯量是电机转子惯量乘以减速比平方后折算到输出端的等效惯量，直接影响关节反驱性和冲击响应。
- [具身智能数据采集](https://www.bxirobotics.cn/glossary/robot-data-collection): 具身智能数据采集通过遥操作记录机器人观测与动作数据，为 VLA 模型和模仿学习提供训练样本。
- [RV 减速器](https://www.bxirobotics.cn/glossary/rv-reducer): RV 减速器采用行星轮系与摆线针轮两级结构，具有高刚性、高承载和较强抗冲击能力，常用于工业机器人基座与大臂关节。
- [Sim-to-Real（仿真到实机）](https://www.bxirobotics.cn/glossary/sim-to-real): Sim-to-Real 指先在物理仿真环境中大规模训练机器人控制策略，再迁移到真实机器人上运行的技术路线，是当前人形机器人运动控制的主流训练范式。
- [六维力传感器](https://www.bxirobotics.cn/glossary/six-axis-force-torque-sensor): 六维力传感器同时测量三轴力和三轴力矩，常用于机器人腕部、踝部、精密装配和接触控制。
- [遥操作](https://www.bxirobotics.cn/glossary/teleoperation): 遥操作指操作员实时远程控制机器人完成任务的技术，是当前人形机器人落地的重要模式，也是采集真机示教数据、训练具身智能模型的核心数据来源。
- [扭矩密度（N·m/kg）](https://www.bxirobotics.cn/glossary/torque-density): 扭矩密度表示执行器单位重量可输出的扭矩，是评估机器人关节重量、负载和动态性能的重要指标。
- [VLA 模型](https://www.bxirobotics.cn/glossary/vla-model): VLA 模型接收视觉信息和自然语言指令并输出机器人动作，是具身智能操作策略的一类端到端架构。
- [世界模型](https://www.bxirobotics.cn/glossary/world-model): 世界模型是智能体学习到的环境预测模型，用当前状态和动作预测后续变化，可用于规划、仿真和策略训练。
- [Coreless Motor](https://www.bxirobotics.cn/en/glossary/coreless-motor): A coreless motor uses an ironless cup winding for low inertia, low cogging, and fast response in dexterous hands and other compact precision drives.
- [Crossed Roller Bearing](https://www.bxirobotics.cn/en/glossary/crossed-roller-bearing): A crossed roller bearing alternates cylindrical rollers at 90° in a V-shaped raceway, letting a single bearing carry radial, axial, and moment loads simultaneously — giving robot joints high stiffness and rotational precision.
- [Degrees of Freedom (DoF)](https://www.bxirobotics.cn/en/glossary/degrees-of-freedom): Degrees of freedom count the independently controllable joint axes of a robot and directly determine its motion capability: a 6-DoF arm reaches arbitrary poses, while humanoid robots typically need 30+ DoF for whole-body coordination.
- [Dexterous Hand](https://www.bxirobotics.cn/en/glossary/dexterous-hand): A dexterous hand is a multi-DOF robotic end-effector modeled on the human hand for grasping, tool use, and fine manipulation.
- [Dual Absolute Encoder](https://www.bxirobotics.cn/en/glossary/dual-absolute-encoder): A dual absolute encoder setup places one absolute encoder at the joint motor input and another at the output, directly measuring true post-reduction joint angle for precise closed-loop control and zero-calibration startup.
- [Embodied AI](https://www.bxirobotics.cn/en/glossary/embodied-ai): Embodied AI is the paradigm where an agent perceives, decides, and acts through a physical body interacting with the real world; humanoid robots are its primary platform, closing the perception–decision–action loop in reality.
- [Force Control (Impedance / Admittance Control)](https://www.bxirobotics.cn/en/glossary/force-control): Robot force control uses torque, impedance, or admittance control for compliant interaction. Calibrated QDD joints can estimate output torque from phase current.
- [Frameless Torque Motor](https://www.bxirobotics.cn/en/glossary/frameless-torque-motor): A frameless torque motor supplies a stator and rotor for direct integration into a robot joint, reducing redundant housing and drivetrain components.
- [Harmonic Drive (Strain Wave Gear)](https://www.bxirobotics.cn/en/glossary/harmonic-drive): A harmonic drive uses flexspline deformation for high reduction and low backlash. Robot arms commonly use it; dynamic legs may prioritize backdrivability.
- [Hollow Shaft Motor](https://www.bxirobotics.cn/en/glossary/hollow-shaft-motor): A hollow shaft motor has a through-bore along its output axis, letting cables, tubing, and sensor harnesses pass through the joint center — dramatically simplifying robot wiring and expanding joint range of motion.
- [Joint Motor](https://www.bxirobotics.cn/en/glossary/joint-motor): A joint motor is an integrated robot actuator combining a frameless motor, gearbox, encoders, and driver in one unit, mounted directly at a robot joint — the core power component of humanoid robots and robotic arms.
- [MIT Protocol (CAN Motor Control)](https://www.bxirobotics.cn/en/glossary/mit-protocol-can): The MIT protocol is a CAN-bus motor control scheme from the MIT Mini Cheetah open-source project, sending position, velocity, feed-forward torque, and gains in a single frame for hybrid force-position control — a de facto standard for robot joint motors.
- [Planetary Gearbox](https://www.bxirobotics.cn/en/glossary/planetary-gearbox): A planetary gearbox uses a sun gear, planet gears, and a ring gear with multiple simultaneous tooth contacts and coaxial input/output — delivering high torque density, compactness, and efficiency for robot joint motors.
- [Quasi-Direct Drive (QDD) Actuator](https://www.bxirobotics.cn/en/glossary/quasi-direct-drive): A QDD actuator pairs a high-torque motor with a low ratio of about 5–20, balancing torque density, backdrivability, and current-based torque estimation.
- [Reflected Inertia](https://www.bxirobotics.cn/en/glossary/reflected-inertia): Reflected inertia is rotor inertia multiplied by gear ratio squared at the output. It directly affects joint backdrivability and impact response.
- [Robot Data Collection](https://www.bxirobotics.cn/en/glossary/robot-data-collection): Robot data collection records paired observations and actions, often through teleoperation, to train VLA models and imitation-learning policies.
- [RV Reducer (Cycloidal Reducer)](https://www.bxirobotics.cn/en/glossary/rv-reducer): An RV reducer combines planetary and cycloidal stages for high rigidity, load capacity, and shock tolerance in industrial robot base and shoulder joints.
- [Sim-to-Real](https://www.bxirobotics.cn/en/glossary/sim-to-real): Sim-to-Real is the approach of training robot control policies at scale in physics simulation and then transferring them to real robots — the dominant training paradigm for humanoid locomotion today.
- [Six-Axis Force/Torque Sensor](https://www.bxirobotics.cn/en/glossary/six-axis-force-torque-sensor): A six-axis force/torque sensor measures three forces and three torques at one point for robot wrists, ankles, assembly, and contact control.
- [Teleoperation](https://www.bxirobotics.cn/en/glossary/teleoperation): Teleoperation is real-time remote control of a robot by a human operator — both a practical deployment mode for humanoid robots today and the core method for collecting real-robot demonstration data to train embodied-AI models.
- [Torque Density (N·m/kg)](https://www.bxirobotics.cn/en/glossary/torque-density): Torque density measures actuator torque per unit mass. It helps compare joint weight, payload capacity, and dynamic performance.
- [VLA Model](https://www.bxirobotics.cn/en/glossary/vla-model): A Vision-Language-Action model maps camera observations and language instructions to robot actions for manipulation and embodied-AI tasks.
- [World Model](https://www.bxirobotics.cn/en/glossary/world-model): A robotics world model predicts future environment states from the current state and an action, supporting planning, simulation, and policy training.

## Optional

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