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[00] LEX X-1 具身智能

General-Purpose Humanoid

[I] 感知

Sensing

6 parts · X1-S01 – X1-S06

  • Egocentric camera

    Egocentric camera X1-S01

    Resolution
    2K
    Frame rate
    60 fps
    FOV
    180° diagonal
    IMU
    built-in
  • Depth camera

    Depth camera X1-S02

    Method
    active IR stereo
    Depth error
    <2% at 4 m
  • 360° LiDAR

    360° LiDAR X1-S03

    FOV
    360° × −7° to +52°
    Range
    40 m at 10% reflectivity
    Wavelength
    905 nm
  • Inertial measurement unit

    Inertial measurement unit X1-S04

    Sensors
    gyroscope, accelerometer
    Rate
    200 Hz
  • Six-axis force/torque sensor

    Six-axis force/torque sensor X1-S05

    Axes
    Fx, Fy, Fz, Mx, My, Mz
    Mounts
    wrist, foot
  • Environmental module

    Environmental module X1-S06

    Measures
    VOCs, particulates, CO₂
    Mounting
    hot-swap

[II] 运算与电源

Compute and power

3 parts · X1-C01 – X1-C03

  • AI computer

    AI computer X1-C01

    AI compute
    2070 FP4 TFLOPS (sparse)
    Memory
    128 GB
    Power
    40–130 W
  • Battery pack

    Battery pack X1-C02

    Chemistry
    lithium-ion
    Energy
    to order
    Voltage
    to order
  • Battery management board

    Circuit boards X1-C03

    Circuit boards options
    Function
    battery management
    Monitors
    cell voltage, temperature, charge
    Protection
    fault cut-off

[III] 执行器

Actuators

3 parts · X1-A01 – X1-A03 · 25 rotary joints: 17 planetary, 8 strain-wave

FIG. B — Planetary joint module, exploded
Planetary joint module, exploded view
  1. 1Motor driver board
  2. 2Frameless torque motor
  3. 3Planetary reducer
  • Planetary rotary module

    Planetary rotary module X1-A01

    Reducer
    planetary
    Integrated
    frameless torque motor, encoders, motor driver board
    Joints
    neck, waist, hip pitch, shoulder roll, elbows, wrists, knees, ankles
    Per X-1
    17
  • Strain-wave (harmonic) rotary module

    Strain-wave (harmonic) rotary module X1-A02

    Reducer
    strain-wave
    Backlash
    near-zero
    Joints
    hip roll, hip yaw, shoulder pitch, shoulder yaw
    Per X-1
    8
  • Linear actuator

    Linear actuator X1-A03

    Drive
    ball screw or planetary roller screw

[IV] 末端执行器

End effectors

2 parts · X1-E01 – X1-E02

FIG. C — Four-finger hand
Four-finger hand with in-palm camera
  1. 1Fingertip sensors
  2. 2Tactile pads
  3. 3In-palm camera
  • Four-finger hand

    Four-finger hand X1-E01

    Fingers
    4
    Camera
    in-palm
    Fingertip module
    18 × 27.3 × 16 mm
  • Fingertip sensor, optical

    Fingertip sensors X1-E02

    Fingertip sensors options
    Principle
    internal camera tracks skin deformation
    Output
    contact location, force

[V] 训练

Training

5 kits · LX-1 · IX-1 · GX-3 · MX-4 · TX-1

  • Egocentric headset, stereo

    Egocentric headset LX-1

    Egocentric headset options
    Sensors
    2 RGB cameras, IMU
    Mass
    <150 g
  • Motion-capture suit

    Motion-capture suit IX-1

    Sensors
    27 IMU nodes, strap-on
    Mass
    ≤0.68 kg
  • Handheld gripper, lab

    Handheld gripper GX-3

    Handheld gripper options
    Camera
    wide-angle head
    Jaw linkage
    open, serviceable
  • Data gloves, tactile

    Data gloves MX-4

    Data gloves options
    Tracking
    finger pose
    Pressure map
    400 points
  • Teleoperation kit, leader arms

    Teleoperation kit TX-1

    Teleoperation kit options
    Input
    bimanual leader arms
    Mounting
    desk

[VI] 联系

Contact

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