| Model | Oli EDU |
| Mechanical Parameters |
| Height | ≈165cm / 5'5" |
| Shoulder Width | ≈55cm / 21.7in |
| Arm Length | ≈70cm / 27.6in |
| Weight (Battery Included) | ≈55kg / 121.3lbs |
| Active DoF (Total)[1] | 31～43 |
| Single Leg DoF | 6 |
| Single Arm DoF | 7 |
| Waist DoF | 3 |
| Neck DoF | 2 |
| End Effectors |
| Hand Model | ✔️ |
| 2-Finger Gripper (1 DoF) | ✔️ |
| 5-Finger Hand (6 DoF） | o |
| Self-Developed 3-Finger Gripper (4 DoF) | o |
| Joint Range of Motion |
| Neck Joint | P-30° ~ 45°、Y±45° |
| Shoulder Joint | P±160°、R-5°~185°、Y-90°~195° |
| Elbow Joint | P-66°~137° |
| Wrist Joint | P±90°、R±90°、Y-45°~135° |
| Waist Joint | P-30°~45°、R±30° 、Y±150° |
| Hip Joint | P±150°、R-50°~120°、Y±150° |
| Knee Joint | P+5°-148° |
| Ankle Joint | P-35°~58°、R±25° |
| Controller |
| Remote Controller | ✔️ |
| Thermal Management |
| Air-Cooled Main Control Area | ✔️ (Optimized) |
| Communication Interfaces |
| WiFi 6 | ✔️ |
| Bluetooth | ✔️ |
| USB3.0/3.2 (USB Hub Supported) | ✔️ |
| Gigabit Ethernet (RJ45) | ✔️ |
| Power Supply Interfaces |
| 24V 5A | ✔️ (x2) |
| 12V 5A | ✔️ (x2) |
| Perception Sensors |
| IMU | 6-Axis |
| Head Depth Camera | ✔️ |
| Chest Depth Camera | ✔️ |
| Battery |
| Battery Capacity | 9500mAH |
| Battery Life [2] | About 1.5H |
| Charger | 58.8V 10A |
| Slide-Out Battery Module | ✔️ |
| Capability |
| Maximum Load Capacity (Single Arm) [3] | 3kg / 6.6lbs |
| Maximum Moving Speed | 5km/h |
| Maximum Joint Torque [4] | 150N·m |
| Computing Configuration | Motion Control：- RK3588 SoC + 8G RAM+ 64G Storage Perception ：- Orin NX SoC+16G RAM+1T Storage+157TOPS |
| Feature |
| Voice Interaction Module | ✔️ |
| LED Indicators | ✔️ |
| System Status Monitoring | ✔️ |
| Basic Motion Library [5] | ✔️ |
| Motion Library Expansion Service | ✔️ |
| Developer Tools |
| Custom Development | ✔️ |
| Remote Control API | ✔️ |
| Sensor API | - Visual Perception Data - IMU Data |
| Low-Level Motion Control API [6] | ✔️ |
| High-Level Motion Control API [7] | ✔️ |
| OTA Updates | ✔️ |
| Studio Package (Optional) [8] | o |
> **Note:**
> ***Products are continuously iterated and optimized; appearance and configuration are subject to change. Please refer to the actual product received.**
> **[1]** Total Degrees of Freedom (DoF) refers to the combined DoF of the robot's base body and the installed end-effector (e.g., hand model, two-finger gripper, three-finger gripper, or five-finger dexterous hand).
> **[2]** The data above was measured at the LimX Dynamics laboratory. Actual results may vary depending on environment, usage, device status, and software version. Please refer to the actual operating performance.
> **[3]** The arm’s maximum load varies with its extension and posture. Values may differ under different configurations. Please refer to the actual operating performance.
> **[4]** The maximum torque differs among motors. The value shown represents the maximum torque of the highest-torque motor.
> **[5]** The action library includes three categories: Basic Interaction, Gestures, and Dance.
> **[6]** Supports both joint-level control and end-effector control.
> **[7]** Supports humanoid walking, mobile operation, stationary operation, and remote operation.
> **[8]** Supports hardware status monitoring, voice configuration, data collection, motion choreography, and one-click simulation verification.
# 2 Remote Controller Description
## 2.1 Specifications
| Category | Description |
| :--- | :--- |
| **Product Name** | Humanoid Robot Remote Controller |
| **Dimensions** | ≈ 162 × 98 × 52mm (L × W × H) |
| **Weight** | ≈ 210g |
| **Display Screen** | - TFT display 1.47 inch
| Type | Mode/Action | Description | Button | Prerequisite States |
| Mode/State Switching | Remote Control Mode | Enables robot movement/action control via the remote controller. (Voice interaction is available in this mode.) | R1 + Left | - |
| Developer Mode - High-Level Control | Allows advanced development, including high-level command execution and low-level joint control. Ensure Oli is securely suspended using a protective frame or equivalent equipment during development. | R1 + Up | Developer Mode only |
| Developer Mode - Low-Level Control | R1 + Down | Developer Mode only |
| Zero-Torque State | All joints are torque-free and can be manually adjusted. | L2 + ○ | - |
| Zero-Point Calibration | All joints reset to the mechanical zero position. | Press & Hold L1 + R1 | Zero Torque State |
| Damping State | Applies damping torque to joints to prevent free swinging. | L2 + Down + X | - |
| Lying State | Transitions the robot to a lying position (following a zero-torque or damping transition). | L2 + Left | Damping State / Standing State |
| Standing State | Engages preload torque to maintain balance and await commands. | L2 + △ | Hanging State |
| L2 + UP | Packing Pose State/Lying State/Sitting State |
| Packing Pose State | Seated posture required during packing and transport | DOWN + □ | Damping State / Standing State |
| Sitting State | Command the robot to sit in place via remote controller | L2 + Right | Damping State / Standing State |
| Movement Control | Move Forward/Backwards | Moves the robot forward or backwards via the remote controller. | Left Joystick ↕ | Standing State |
| Lateral Movement | Moves the robot left or right via the remote controller. | Left Joystick ↔ | Standing State |
| In-place Turning | Rotates the robot on the spot via remote controller. | Right Joystick ↔︎ | Standing State |
| In-place Marching | Performs marching motion in a standing position. | Press & Hold R1 | Standing State |
| Interactive Actions/ Functions | Action/Dance Library - Access | Access the action library menu via the remote controller. | Press OPTIONS | Standing State |
| Action/Dance Library - Select | Select Action or Dance Library via remote controller | Press Right | Standing State |
| Action/Dance Library - Switching | Switches between actions/dances in the action/dance library. | Press UP / DOWN | Standing State |
| Action/Dance Library - Select & Execute | Selects and executes between actions/dances in the action/dance library. | Press SHARE | Standing State |
| Custom Action Sequence | Executes a customized action sequence via the remote controller; no action if none is available. | L2 + R1 | Standing State |
| Voice Wake-Up | Forces activation of voice interaction. | Press & Hold R2 | - |
| Teleoperation Initialization | Switches to teleoperation and begins initialization via the remote controller. | L1 + Up + △ | Standing State |
| Safety Protection | Emergency Stop Active | Joints are immediately powered off and will not respond to any motion commands. | Press Left & Right Joystick | - |
| Emergency Stop Released | Joints perform a self-check and power on again, then enter Zero-Torque Mode. | Press Right Joystick | Emergency Stop Active |
> **Note：**
> **Prerequisite States:** Indicates that switching to a new action or state is only permitted when the robot is in the required preceding state.
> **Emergency stop activation is a high-risk operation** and may cause the robot to lose balance and fall. Before activation, ensure that a clear area with a minimum radius of **2m** around the robot is free of personnel and obstacles to avoid personal injury or property damage.
### 3.2.4 Motion Control Status, System Status Indicator and Buzzer Indications
| **Control Status / Mode** | **Indicator Status** | **Buzzer Prompt** | **Voice Prompt** |
| ------------------------------------------------- | ---------------------------------------- | ----------------------------- | ------------------------------- |
| Powering On | ⚪️ white unidirectional fill animation | – | Startup confirmation tone |
| Basic State (Zero Torque / Calibrating / Damping) | ⚪️ Solid white | – | |
| Remote Control Mode | 🔵 Solid blue | – | |
| Developer Mode - Low Level | 🟣 Purple breathing | – | |
| Developer Mode - High Level | 🟣 Solid purple | | |
| Emergency Stop | 🔴 Solid red | – | |
| Low Battery Warning (≤ 20%) | 🟠 Orange breathing | – | "Low battery. Please recharge." |
| Critical Battery Warning (≤ 5%) | 🔴 Red slow flash | Intermittent "beep–beep" | "Low battery. Please recharge." |
| System Abnormal Warning | 🟡 Yellow slow flashing | – | |
| System Critical Fault | 🔴 Red fast flash | Continuous "beep–beep–beep" | |
| Voice Wake-up Standby | Cyan endpoint breathing | – | "I’m here. Please speak." |
| Voice Input Receiving | Cyan bidirectional scanning | – | |
| Voice Response Output | Cyan center-out expansion | | |
## 3.3 Shutdown Procedure
### 3.3.1 Shutdown in Packing Posture
**Step 1: Preparation**
1. Place the flight case on a stable, level surface.
2. Verify the internal padding is properly installed.
3. Position the robot directly in front of the case, facing the opening, at a distance of at least **1m**.
**Step 2: Move the Robot into the Flight Case**
1. Push the left joystick forward to move the robot straight ahead.
2. Continue until the robot is fully inside the case and standing stably.
**Note：**
> 1. Ensure that the area around the flight case is clear and that the floor is level and free of obstacles.
> 2. During the placement process, carefully **control the robot’s speed and direction** to avoid collisions between the arms and the case, and ensure the robot is **properly supported** to prevent accidental drops.
**Step 3: Posture Adjustment**
1. Push the right joystick left or right to rotate the robot in place until it faces the opening of the case.
2. Push the left joystick backwards to slowly move the robot rearward until the back of the feet are positioned near the internal foam padding
3. Press **[Down + □]** to switch to the packing pose.
**Step 4: Power Off**
1. After the robot is seated and stable, briefly press and release the power button, then press and hold for **2 seconds** to shut down.
2. Align the robot’s feet with the designated positions at the bottom of the case.
3. Remove the battery and store it in the accessory tray.
> **Note：**
> Before closing the case, ensure that the robot’s arms are positioned correctly (as shown in the figure) to prevent equipment damage caused by compression or impact.
### 3.3.2 Shutdown in Sitting Position
**Step 1: Posture Adjustment**
1. Ensure the robot is in the **Standing Position**.
2. Press **[L2 + Right]** to switch Oli to the Sitting Posture.
> **Note：**
> During the transition from
| Issues Category | Issue Description | Possible Causes | Troubleshooting & Solutions |
| Power Related | Failure to Power On | - Depleted battery - Emergency stop button pressed | - Check charge status and recharge - Ensure the emergency stop button is released |
| Sudden Motor Shutdown | - Safety protection triggered - Loose connection - Power supply abnormality | - Check the emergency stop status. - Reconnect the power cable or check connectors - Restart the system. |
| Failure to Charge | - Incorrect connection sequence - Adapter malfunction - Loose connection | - Insert the aviation plug first, then power on. - Check the indicator light (Red = Charging, Green = Full) - Tighten screw sleeve, check contact |
| Control & Execution | No Buzzer Prompt After Startup | - Self-check incomplete - Remote controller pairing failed | - Wait 1 minute for initialization. - Re-pair the remote controller |
| Remote Controller Unresponsive | - Pairing unsuccessful - Remote controller low battery - Severe wireless interference | - Long-press the "Sync Button" for 3s to re-pair. - Replace the remote controller battery. - Move away from strong interference sources. |
| Motor No Response | - No power applied - Pairing incomplete - Control signal lost | - Confirm the remote controller is paired. - Press the right stick to power on - Check the remote controller status |
| Zero Calibration Failure | - Restricted space - Incorrect posture - Command not sent successfully | - Ensure no obstacles within 2m/6' 6.74" - Perform in a natural hanging position - Check the remote controller button operation |
| Communication & Network | Unable to connect to Wi-Fi | - Weak signal - Incorrect password - Module malfunction | - Move closer to the robot and reconnect. - Verify the password is `12345678` - Restart the robot |
| Unable to access 10.192.1.2 | - IP not on the same subnet - Network configuration error | - For wired connection: manually set the IP to `10.192.1.x` subnet. - For wireless connection: automatic IP address assignment, no manual configuration needed. |