LimX Oli FAQ

LimX Oli (“Oli”) is a full-size general-purpose humanoid robot from LimX Dynamics. Standing 165 cm tall, it features 31 active degrees of freedom (DoF) in its body, excluding end effectors. Its general-purpose design, modular hardware and software architecture, and continually evolving development toolchain support every stage from algorithm research to system deployment. Oli is designed for AI researchers, robotics developers, and solution integrators working in general-purpose robotics. It supports applications such as gait planning, dexterous manipulation, multimodal interaction, and reinforcement learning training.

Oli and Luna are two full-size humanoid robots from LimX Dynamics with different product focuses. Oli (165 cm tall, 31 DoF) is a general-purpose platform focused on custom development and real-world applications. It supports end-to-end Python development and provides a modular SDK, open high- and low-level interfaces, a complete URDF model, and compatibility with major simulation platforms. It can be equipped with a range of end effectors, making it suitable for research and system deployment. Oli also supports voice interaction, motion and dance libraries, and over-the-air (OTA) updates.

Oli is currently available in the EDU version for education and research. It includes a development computing unit and a motion control computing unit, with full support for custom development. For detailed specifications, see the Oli EDU Manual on the official website.

Click “Buy Now” on the product page on the LimX Dynamics website and submit your contact details. Our sales team will provide a quote and help you select the right configuration.

Oli has 31 body DoF: six per leg, seven per arm, three in the waist, and two in the neck. Its body structure and whole-body motion control algorithms are developed in-house, supporting humanoid walking, mobile manipulation, stationary manipulation, and teleoperation. Oli comes preloaded with more than 15 commonly used interactive actions, including curtain-call gestures, waving, bowing, heart shape, and high-fives, along with dances in various styles, such as crowd warm-up routines and robot dances. Both the motion and dance libraries support OTA updates, providing ongoing access to new content.

Oli comes standard with a 9,500 mAh slide-out battery module, providing approximately two hours of operation per battery. This figure is based on testing in the LimX Dynamics laboratory. Actual runtime varies depending on operating mode, workload, and environmental conditions. The quick-swap battery design lets you resume operation with a charged spare battery. Oli can also be charged through its onboard power connector while powered off. The charger is rated at 58.8 V, 10 A.

Oli supports a maximum payload of 3 kg per arm. Actual capacity varies with the arm’s pose and extension. Its maximum motor torque is 150 N·m, and its total weight, including the battery, is no more than 55 kg. These capabilities support basic manipulation tests such as carrying and pick-and-place tasks.

Oli supports quick-release modular end effectors. Humanoid hand models and parallel two-finger grippers (1 DoF) are included as standard, while five-finger dexterous hands (6 DoF) are available as an option for grasping and dexterous manipulation research. Both the inner and outer sides of the hand assemblies provide 24 V power and RS485 communication interfaces for connecting third-party end effectors, including BrainCo’s second-generation five-finger dexterous hands and INSPIRE’s two-finger grippers.

Oli features an in-house-developed voice interaction system that supports natural, human-like conversations in multiple languages and voice-controlled actions, such as “Take two steps forward” or “Do a warm-up dance.” You can upload custom knowledge bases to expand its conversational content. Oli also supports interaction through lighting, visual perception through depth cameras, and status monitoring. Voice interaction works in both online and offline modes. If the network connection is lost, Oli automatically switches to offline mode to execute basic commands.

Oli offers a range of connectivity and expansion options: - Wi-Fi 6 and Bluetooth - USB 3.0/3.2 with USB hub support - Two Gigabit Ethernet ports (RJ45) - Two 12 V/5 A power outputs and two 24 V/5 A power outputs For perception, Oli features an in-house-developed six-axis IMU with enhanced interference resistance, along with head- and chest-mounted D435i depth cameras. Additional sensors, including LiDAR and cameras, can be integrated to expand its perception capabilities.

Replace the slide-out battery while Oli is in a seated position: 1. Power off the robot. 2. Remove the old battery and insert a sufficiently charged battery. 3. Briefly press and release the power button, then press and hold it for two seconds to power on. 4. Wait until the chest LED turns solid white, indicating that Oli has entered zero-torque mode. 5. Press R1 + Left to enter damping mode. 6. Press L2 + Up to switch to a standing position. When transitioning from sitting to standing, Oli first moves into a lying position. Keep a safe distance of at least 1 m from the robot during this process.

Yes. Custom development is one of Oli’s core capabilities. Oli supports end-to-end Python development and provides a modular SDK with open high- and low-level interfaces, including joint control and end-effector control. User manuals, development guides, and code examples are included, and development capabilities continue to be updated.

Oli uses dedicated processors for motion control and perception. The motion control computing unit uses an RK3588, while the perception computing unit uses an NVIDIA Jetson Orin NX with 157 TOPS of AI computing performance. With each processor handling its dedicated workload, this dual-processor architecture provides an industry-leading computing configuration for a range of algorithm research tasks and supports local deployment of large AI models.

Oli provides a complete, clearly defined URDF model to help significantly improve simulation-to-reality (Sim2Real) transfer. It supports major simulation platforms, including NVIDIA Isaac Sim, MuJoCo, and Gazebo, allowing developers to validate their work in simulation before deploying it on the physical robot.

Oli provides the following APIs: - Controller API - Sensor APIs: visual data and IMU data - Low-level motion control APIs: joint control and end-effector control - High-level motion control APIs: humanoid walking, mobile manipulation, stationary manipulation, and teleoperation Cloud API calls can also be combined with local control to support development workflows such as building teleoperation systems and collecting data for imitation learning.

Yes. Oli’s onboard firmware supports ongoing OTA updates, making it easy to access new actions and trending dance routines. Its development toolchain is also continually updated. Please refer to LimX Dynamics’ official after-sales documentation for the applicable update policies and fees.

Oli includes multiple safety mechanisms: - Emergency stop via the remote controller: Press both joysticks simultaneously to immediately cut power to the joints. - Damping mode protection: Press L2 + Down + X to enter damping mode, allowing the robot to fall slowly to the ground to reduce impact. - Startup self-check: Oli automatically checks its components at startup. If a fault is detected, a flashing red light and a voice alert identify the affected component. - Protective padding: Soft materials cover key areas of the body to improve resistance to falls and impacts. Keep a safe distance of at least 1 m from the robot during operation. Operate it in an open area and keep it within sight at all times.

Regularly remove dust from the body and joints, and check that all screws are securely tightened. After a period of use or an accidental fall, joint zero calibration is recommended to restore joint positioning accuracy. Press and hold L1 + R1 to perform calibration. Install official firmware updates promptly to address potential issues and improve the motion control algorithms.

Oli supports two charging methods: - Remove the battery and charge it separately in the charging dock. - With the robot powered off and not operating, charge it directly through the onboard circular power connector using a 58.8 V, 10 A power adapter. For long-term storage, keep the battery at 50%–60% charge. Every three months, complete a full charge-discharge cycle, then return the battery to 50%–60% charge to help slow battery degradation. Do not insert or remove the battery while the robot is powered on, as this may damage the connector circuitry.

Use a transport case designed specifically for the robot to reduce shock and vibration during storage and transport. When storing the remote controller, protect the joysticks from external pressure and keep the connectors clean.

The most common causes are a depleted battery or an engaged emergency stop button. Check the battery charge level and recharge it if necessary. Make sure the emergency stop button is released, then try powering on the robot again.

Under LimX Dynamics’ General Terms and Conditions of Supply and Service, new robots come with a 12-month warranty at no additional charge from the date of receipt, excluding wear parts and consumables. Specific coverage and warranty periods for key components are subject to the Terms and Policies on the official website and the terms of your contract.

Support is available through the following channels: - Online support tickets: Go to Support > Service on the LimX Dynamics website and submit a support ticket. - Remote diagnostics: Remote log analysis and technical assistance are available, depending on the type of fault. - On-site service: Technicians can be arranged to inspect and repair major faults, subject to the terms of your contract. During the warranty period, free technical support and troubleshooting are also available through official channels, including email and phone.