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

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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 robot backplate structure ((backplate and charging-port photo pending)).
   • Upper Display Screen: Shows voltage, reference battery level, and temperature. Press the button on the right side of the screen to wake it up; it will automatically turn off after 10 seconds.
     • Use the voltage value as the main battery-state reference. The percentage / battery bars are for reference only and may not match the actual remaining capacity.
   • 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: Contact the supplier to obtain

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Power-on and Operation Steps

1. Turn on Battery Power & Host Power

• Press the battery power button. The battery will supply power normally, and the host will also power on simultaneously. Check the voltage value on the backplate display. The percentage / battery bars may be inaccurate, so use the voltage value as the reference.
• Voltage note:
  1. New 58V machines: The backplate display shows the current battery-pack voltage. When fully charged, the voltage is about 58V–60V. The voltage gradually decreases during use. If the voltage is clearly low (below 50V), stop and charge the robot first.
  2. Older 48V machines: The backplate display shows the current battery-pack voltage. When fully charged, the voltage is about 48V–50V. The voltage gradually decreases during use. If the voltage is clearly low (below 40V), stop and charge the robot first.

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: Walking, Zero Torque, Initial Posture, Zero-position, High-speed Run, Medium-speed Run, Dance, Recovery, Front Flip, Clap, Wave, etc., and will be continuously updated.

3.1 Start the Program

(It is recommended to remain suspended): After the robot powers on, wait about 30 seconds for the system to finish starting up, then press the Right Stick (RS/R3) to start the robot. 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 the chest light turns on, wait about 10 seconds for self-check to complete before switching the robot to Initial Posture, Walking, or other modes.

3.2 Initial Posture Initialization

(It is recommended to remain suspended): - Press RB + B simultaneously to make the robot enter the initial posture. - 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, with both feet touching the ground. The operator should assist in maintaining the initial-posture standing state to prevent external forces from disrupting the posture initialization.

3.3 Switch to Motion State

(At this point, initial-posture initialization is complete, it is still recommended to remain suspended, and you can release the lanyard after a successful and stable switch): - Walking State: Press RB + X simultaneously. The robot enters the walking state, where it can move omnidirectionally on flat ground. - Dance State: While the robot is in the walking 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 walking state.

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Shutdown and De-energization

• Press Start, 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.

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Gamepad Motion Control

Remote controller power indicator colors: A solid light means the controller is connected successfully. White indicates 2.4G wireless connection, blue indicates Bluetooth connection, and green indicates USB wired connection. A flashing red battery indicator means the battery is low.

Remote controller mode switch: The mode switch is located on the bottom/back of the controller near the USB-C port. It has three positions: USB, BT, and RF.

• USB: USB wired connection mode, using a USB-C data cable to connect to the PC.
• BT: Bluetooth connection mode, used to connect to the robot PC via Bluetooth.
• RF: 2.4G wireless connection mode, used with a 2.4G USB receiver. The 2.4G USB receiver is located in the controller box by default.

Movement Direction Control

In Walking, High-speed Run, and Medium-speed Run modes, use the following inputs to move the robot:

Control	Operation	Effect
Right stick	Push forward or backward	Forward / Backward
Left stick	Push left or right	Left translation / Right translation
D-pad	Press ← or →	Turn left / Turn right

Mode Level	Mode Name	Button Combination	Switchable Modes	Notes
Normal	Walking	RB + X	All modes	Omnidirectional movement, with some obstacle-avoidance ability
Normal	Zero Torque	RB + A	Initial Posture / Zero-position	Joints output no torque and can be rotated freely
Normal	Initial Posture	RB + B	Walking / Zero Torque / Zero-position / Recovery	Joints hold the initial posture
Normal	Zero-position	RB + Y	Initial Posture / Zero Torque	All joints hold the zero position
Advanced	Dance	LB + X	Walking / Zero Torque / press X to pause or resume	Automatically returns to Walking after completion. While paused, the robot may move to maintain balance (Make sure there are no obstacles within 1 m around the robot)
Advanced	Recovery	LB + A	Zero Torque	Use only when the robot is lying face down or on its back. After standing up, it automatically returns to Walking (Make sure there are no obstacles within 1 m around the robot)
Advanced	High-speed Run	LB + Y	Walking	Up to about 4 m/s, with no obstacle-crossing ability
Advanced	Medium-speed Run	LB + B	Walking	Up to about 2 m/s, with no obstacle-crossing ability
Advanced	Front Flip	LT + Y	Zero Torque	Keep the front 3 m clear of obstacles. After completion, it automatically returns to Walking
Normal	Clap	RT + B	Walking / press X to pause or resume	Automatically returns to Walking after completion
Normal	Wave	RT + A	Walking / press X to pause or resume	Does not automatically return to Walking

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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

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Packing and Transportation

[To be added: insert packing guide images here]

• 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, especially between two motor housings, during transportation.