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Operation Guide

This document contains instructions for unboxing, basic operations, safety precautions, and secondary development for the Genie 3 ELF3 robot.
Please read and follow the Robot Safety Instructions and Safety Guidelines before operating the robot

Unboxing Instructions

  1. Placement and Unboxing: Open the box face up, remove the surrounding foam, and lift the robot out with at least two people.

    • Pay strict attention to the cable positions during extraction to avoid crushing or tearing.
    • After taking it out, it is recommended to suspend the robot using a hanger or lay it flat on the ground.

  2. Backplate Structure Introduction:

    • The following figure shows the backplate structure of the robot ((Physical image pending)).
    • Upper Display Screen: Shows voltage, battery level, and temperature. Press the button on the right side of the screen to wake it up and display the battery level; it will automatically turn off after 10 seconds.
    • Lower Right: The power switch button for the main battery.
    • Upper Body: Charging port.

  3. Host System Information:

    • The host operating system of the robot is Ubuntu 22.
    • Username: bxi
    • Password: 12345

Power-on and Operation Steps

1. Turn on Battery Power & Host Power

  • At this stage, the robot should be suspended on the hanger, with both feet touching the ground.
  • Press the battery power button. The battery will supply power normally, and the voltage should display above 45V; the host will also power on simultaneously. If the voltage is insufficient, it is recommended to charge it to above 47V before operating.
  • After the robot PC powers on, the Linux system starts running, but the control program is not yet running. At this time, the robot joint torque is 0, and it is in a relaxed state. It is recommended to hang the robot on a hanger at this point.

Charging Notes

The charger supports a charging voltage range of 42V–88V. To adjust the charging voltage, long-press the knob for 20 seconds to enter adjustment mode.

Verify charger output voltage: Connect the charger directly to a power source (without connecting to the robot) and check that the charger displays a voltage between 58V–60V. If the voltage is outside this range, adjust it before connecting the robot.

Charger Diagram

2. Connect Remote Controller

Connect the remote controller to the robot PC via Bluetooth. The controller is pre-paired at the factory. - Long press the Xbox button directly. - Wait for the indicator light below the button to stay solid, which means the controller has successfully connected to the robot PC.

3. Run the Control Program

Watch the operation instruction video carefully. The built-in control program of the robot has multiple modes: Zero Torque, PD Homing, Walk/Run, Dance, etc., and will be continuously updated.

Important: Pre-Movement Preparation

  • To prevent accidental falls, ensure the robot is hung on a gantry crane using a lanyard, sitting on a chair, or sitting upright on the ground. It is highly recommended to use a hanger and suspend the robot at an appropriate height.
  • Remove all cables from the body (such as charging cables) to prevent tangling during movement.
  • Make sure the battery has enough charge (above 45V) so the robot does not fall because it cannot complete certain motions due to insufficient power.
  • Always prioritize safety during operation. No one should enter the robot's motion range, and avoid getting hit by the swinging joints of the robot.

3.1 Start the Program

Important: Pre-Zero-Position Check

  • Ensure the robot’s limbs are not in a posture that may cause motor stalling during the zero-position movement.

(It is recommended to remain suspended): After the robot powers on, press the Right Stick (RS/R3). Observe the chest light of the robot; if it lights up, the control program has started running. It enters Zero Torque mode by default. After starting the program, the robot won't react until another button is pressed.

3.2 Initial Position (Zeroing) Initialization

(It is recommended to remain suspended): - Press RB + B simultaneously to make the robot enter the initial position. - Check if the robot is normal: Briefly observe if the motors have any anomalies (such as no response or abnormal noises). - Stand the robot up: If everything is normal, stand the robot up in this state. The operator should assist in maintaining the zero-position standing state to prevent external forces from disrupting the zeroing process.

3.3 Switch to Motion State

(At this point, zeroing is complete, it is still recommended to remain suspended, and you can release the lanyard after a successful and stable switch): - Walk/Run Control State: Press RB + X simultaneously. The robot enters the walk/run control state, where it can walk and run on flat ground. - Dance State: While the robot is in the walk/run state (please stop walking first), press LB + X simultaneously to switch to the dance state. After the dance terminates, it will automatically switch back to the walking state. - Pause Dance: During dancing, you can press X to pause. (Note: Pausing at an awkward posture may cause the robot to lose balance and fall.) Press X again to resume dancing, or press RB + X to exit dancing and return to the walk/run state.

Shutdown and De-energization

  • Press the Terminate button, the control program will exit automatically, and the robot motors will immediately de-energize. The robot will naturally fall due to gravity. > Note: Before shutdown, place a chair under the robot or hang it on a hanger to ensure it does not fall hard onto the ground.
  • Restart: Return to Section 3.1 to restart the program.

Gamepad Motion Control

Function Operation Description
Forward / Backward Right joystick Push to control front/back; long press to increase speed.
Left / Right Turn Left D-Pad Press to control turning; long press to increase rotation speed.

Advice for Beginners

When operating for the first time, hold the lanyard at all times to prevent falls. Press the stop button immediately if any anomaly occurs.

Custom Program (SDK) Control

For developers who wish to control the robot via custom algorithms, ROS, or other programs.

The operating environment and low-level programs are pre-configured, fully supporting out-of-the-box usage. - SDK and ROS2 example: https://github.com/bxirobotics/bxi_rl_controller_ros2_example

Packing and Transportation

  • Avoid Limits: Do not leave joints in mechanical dead zones or extreme limit positions.
  • Isolation Protection: Insert original foam cushioning to prevent direct contact between metal casings during transportation.