LIMX DYNAMICS TRON 1 Multi Modal Biped Robot User Guide

Category	Details	STD Ed.	EDU Ed.
Mechanical Parameters
Dimensions	392mm x 420mm x 845mm	Aluminum Alloy + Industrial Plastic	20kg
Battery Supply Voltage	48V
Maximum Battery Power	1000W
Battery Swapping
Battery Parameters
Battery Type	Ternary Lithium
Battery Capacity	240Wh48v/5Ah
Performance Parameters
Battery Range	2h (At Rated Operational Conditions)
Charging Methods
Battery Charging	Quick Battery Swap
Charger
Battery Charging Dock

Product Usage Instructions

Status Indicator Light

The status indicator light on the TRON 1 displays the robot’s
status, including control status, abnormal status, and low battery.
This light provides important information about the robot’s current
state.

How to Charge the Battery

To charge the battery of the TRON 1, follow these steps:

Connect the battery charging dock to a power source.
Place the TRON 1 on the charging dock carefully.

Ensure the charging light on the dock indicates that the
charging process has started.
Wait for the battery to fully charge before disconnecting it
from the dock.

Startup and Shutdown Process

To start up the TRON 1, press the power button located on the
robot’s body. To shut down the robot, press and hold the power
button until the device powers off completely.

Establishing a Connection to the Robot

To establish a connection to the TRON 1:

Ensure the robot is powered on and in standby mode.
Follow the communication structure diagram provided in the
manual to connect via wired or wireless methods.

Once connected, you can control the robot using the remote
controller.

Robot Software Upgrade

To upgrade the software on the TRON 1, follow these steps:

Download the latest software update from the official
website.
Connect your computer to the robot using a USB cable or
wireless connection.

Follow the software upgrade instructions provided in the user
manual to complete the process.

Frequently Asked Questions (FAQ)

Q: How long does it take to charge the TRON 1 battery?

A: The charging time for the TRON 1 battery is approximately X
hours when using the recommended charging method.

Q: Can I use third-party batteries with the TRON 1?

A: It is recommended to use only approved batteries with the
TRON 1 to ensure optimal performance and safety.

Q: What should I do if the status indicator light shows an
abnormal status?

A: If the status indicator light displays an abnormal status,
refer to the user manual for troubleshooting steps or contact
customer support for assistance.

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TRON 1
Quick Start Guide
October 2024 V1.0

Table of Contents

Robot Overview

Brief Introduction

Body Components and Interfaces

List of Items

product specification

Status Indicator Light

How to Charge the Battery

Charging Light instructions

Startup and Shutdown Process

Remote Controller instructions

Turning the Remote Controller On/Off

Remote Controller Screen Information Description

Power-On Zero Calibration

Usage Process

Remote Controller Buttons Instruction

Establishing a Connection to the Robot

Communication Structure Diagram

Wired Connection

Wireless Connection

Robot Software Upgrade

TRON 1 Quick Start Guide
Robot Overview
Brief Introduction
TRON 1 is a versatile biped robot designed for researchers. It features a novel configuration, ease of use, stability, durability, and strong extensibility, meeting the demands and needs of: · Researchers engaged in motion control algorithm research for biped robots. · Researchers utilizing model-based and reinforcement learning methods for robotic studies. · Using biped robot as Autonomous Mobile Robot. · Technology innovation exhibition.
Body Components and Interfaces
Front and Back Diagram
1 Copyright © 2024 LimX Dynamics Inc. All Rights Reserved

TRON 1 Quick Start Guide

Item Status Indicator Light RGBD Camera (optional) Interchangeable Foot End USB-A 3.0 Emergency Stop Button Battery Indicator Light Power Button Peripheral Expansion Platform 24V Voltage Output Por
Gigabit Ethernet Port
Lower Leg

Function Description
Displays the robot’s status (control status, abnormal status, low battery, etc.).
Binocular perception sensor
Allows users to exchange rubber foot ends.
Can be used for detecting and connecting perception peripherals, such as an additional RGBD camera.
In an emergency, press this button to enter torque-free mode.
Displays the current battery level of the device.
Power on/ Power off Button
Allows users to attach and fix external devices.
Capable of providing a stable direct current (DC) voltage of 24 volts, with a peak power rating of 100 W. Can be used to connect external computers, routers, or other communication modules, etc. Rapid assembly and disassembly mechanism, Seamless switching among three kinds of foot ends.

List of Items

Remote Controller × 1

Battery × 1

Power Adapter × 1

Accessories: Point-Foot Accessories: Sole × 2 Accessory: Wheeled ×2

x 2

(Optional)

Robot Body × 1

Battery Charging Dock

User Guide

Certificate of Conformity

TRON 1 Quick Start Guide
Product Specifications

Category

Details

STD Ed.

EDU Ed.

Mechanical Parameters

Dimensions
Material
Net Weight
Battery Supply Voltage Maximum Battery Power
Battery Swapping

392mm x 420mm x 845mm Aluminum Alloy + Industrial Plastic 20kg
48V
1000W

Battery Parameters
Performance Parameters

Battery Type

Ternary Lithium

Battery Capacity

240Wh48v/5Ah)

Battery Range

2h (At Rated Operational Conditions)

Charging

Methods

Battery Charging Quick Battery Swap

Charger

Battery Charging Dock

240Wh48v/5Ah)
2h (At Rated Operational Conditions) Battery Charging Quick Battery Swap
Battery Charging Dock

Charging Time Load Capacity

<1h20%-80% 1.5h (100%)
10kg (Maximum 15kg)

Movement Speed

· Point-Foot 1m/s · Sole 1m/s · Wheeled 5m/s

Maximum Climbing Angle
Maximum Obstacle Height Limitation
Computer Specification

15°
15cm 12th Gen i3 / 16GB RAM /512GB (CPU/Memory/Storage)

Operating Environment

-5 to 40 Operates in favorable weather conditions

· Point-Foot 1m/s · Sole 1m/s · Wheeled 5m/s
15°
15cm
12th Gen i3 / 16GB RAM /512GB (CPU/Memory/Storage)
-5 to 40 Operates in favorable weather conditions

Rated Voltage (V) 48V

48V

Actuator Parameters

Rated Torque (Nm) 30Nm Peak Torque (Nm) 80Nm

Peak Motor Speed (rad/s)

15rad/s

Sensor

RGBD Camera

Configuration IMU

30Nm
80Nm
15rad/s
Optional (IMU Data Access for Developers

TRON 1 Quick Start Guide

Category Extensibility
Developer Tools
Foot End Extension
Others

Details

STD Ed.

Peripheral Expansion Ports
Peripheral Power Supply Port
Peripheral Mounting Point
Handheld Remote Controller
Remote Controller Communication Range

/ /
1 Pcs 50m

Software Upgrade

Supported

Remote E-Stop

E-Stop Button

Secondary Development

SDK

Data Visualization Tools

Data Recording and Playback

Joint Control Algorithm

Simulation Platforms /

EDU Ed.
· 1*USB3.0 · 1*GbE
24V, Output Power: 100W (Peak 200W)
1 Pcs 50m Supported
Supported

· Point-Foot

Four-directional Movement,

Turning, In-place Stepping,

Squatting Up and Down In-place Squatting Up and Down In-place

· Sole · Wheeled
Spare Battery

Four-directional Movement, Turning, In-place Stepping, Static Standing, Squatting Up and Down In-place

Four-directional Movement, Movement, Differential Steering, Turning, In-place Stepping, Static Standing, Squatting Up and Down In-place

1 (Optional)

1Optional

RGBD Camera

1 (Optional)

Roll Cage

1 (Optional)

Accessories: PointFoot

1 Pair (Optional)

Accessories: Wheeled 1 Pair (Optional)

1 (Optional) 1 Pair (Optional) 1 Pair (Optional)

Accessories: Sole

1 Pair (Optional)

TRON 1 Quick Start Guide
Status Indicator Light

Event/Status

Light Color

Booting

Slow Flashing White

Light Indication of the Robot’s Conditions

Frequency (Seconds/ Time)

During booting process 1

Notes
In the Booting-up and Self-check Process

Abnormality Warning

Static Red

An abnormality has occurred with the robot

Maintenance Required

Low Battery Warning

Flashing Red

Battery is low (below 20%)

Battery Swap ASAP

Extremely Low Battery Warning

Quick Flashing Red

Battery is extremely low (below 5%)

0.5

Emergency Stop Flashing Yellow

The Emergency Stop

button has been

pressed

Developer Mode

Static Green

System determines color based on mode setting

Robot will squat automatically
You cannot manipulate the robot under this state
Once powered on, the robot’s system decides the color according to your setting

Remote Control Mode

Static Blue

System determines color based on mode setting

Idle Status

Static (Green/Blue)

Robot is in the torquefree mode.

Standing Status

Static (Green/Blue)

Robot is in the stance mode.

Walking Status

Dynamic (Green/ Blue)

Robot is in the stepping mode.

Once powered on, the robot’s system decides the color according to your setting
It shows static green if the robot is in Developer Mode, static blue if in Remote Control Mode
It shows static green if the robot is in Developer Mode, static blue if in Remote Control Mode
It shows dynamic green if the robot is in Developer Mode, dynamic blue if in Remote Control Mode

TRON 1 Quick Start Guide
How to Charge the Battery
1. Connect the “Battery Charging Dock” to the “Power Adapter”. After aligning the aviation plug with the limit stop, insert it fully and tighten the nut clockwise.
2. Plug the Power Adapter into the electrical outlet. 3. Insert the battery into the dock in the direction indicated by the limit stop, and
press down firmly to ensure it is securely inserted. 4. When the battery indicator light is flashing and the red light on the power adapter
remains constantly lit, it indicates that the battery is successfully charging. When the battery indicator light remains constantly lit and the green light on the adapter is constantly on, it indicates that the battery is fully charged. 5. It takes approximately one hour to charge the battery from 20% to 80%.

Nut

Charging-related Light Signals

Battery Indicator Light
Power Adapter Light

Not charged Charging in progress Charging complete

No light is on
Green light is always on

Green light is flashing Red light is always on

Green light is always on Green light is always on

· When the device is not used for a long time, it is recommended to charge the battery every three months to avoid battery damage
· Overnight charging is not recommended.
6 Copyright © 2024 LimX Dynamics Inc. All Rights Reserved

TRON 1 Quick Start Guide
Startup and Shutdown Process
1. Startup Process a. Insert the battery into the battery compartment and press firmly until the latch clicks into place. b. Ensure that the emergency stop button is released. c. Press and hold the power button for 3 seconds, then release. The battery indicator light and the robot’s status light will illuminate. d. Wait for approximately 20 seconds as the entire robot’s system automatically completes the startup program. e. Upon successful startup, the status indicator light on the robot’s body will change from white to a Static Blue or green.
2. Shutdown Process a. After the robot has completed its tasks, initiate a squatting motion to ensure a smooth landing. b. Once the robot has stopped moving, press and hold the power button for 3 seconds, then release. c. The robot’s system will automatically proceed through the power-down sequence, turning off the battery indicator light and the status light. d. Shutdown is now delete .w
· If you have pressed the power button but are unable to control the robot or access the system normally, please check the battery level first before attempting to restart it.
· If the robot, upon power-up, fails to remote control commands, please verify if the emergency stop button has been pressed.
7 Copyright © 2024 LimX Dynamics Inc. All Rights Reserved

TRON 1 Quick Start Guide
Remote Controller Buttons Instruction

A B CD E F

LM N

Directional buttons, for correcting the robot’s positional offset

Share Button

Screen

Speaker Hole

Options Button

Button ButtonX Button Button

Right Joystick, for controlling the robot’s rotation direction

Power Button, for turning the remote controller on/off

Left Joystick, for controlling the robot’s movement in all directions (forward, K
backward, left, right)

R1 Button

R2 Button

Light Bar

L1 Button

L2 Button

Micro-USB Port: Charging Port

TRON 1 Quick Start Guide
Turning the Remote Controller On/Off
· To turn on the remote controller: Press and hold the power button for at least 3 seconds. Upon hearing a single “beep,” this signifies that the remote controller has been successfully powered on and has entered its default interface.
· To turn off the remote controller: Press and hold the power button for at least 2 seconds. When you hear three consecutive beeps (“beep, beep, beep”), this indicates that the remote controller has been powered off and the screen display has been turned off.
Remote Controller Screen Information Description
Information Area : Displays key information, machine error messages, and other pertinent data. Current Mode : Developer Mode / Remote Control Mode Signal Strength : When disconnected from the robot, the remote controller does not display a signal icon. Upon connection, a white signal bar appears, and a greater number of lit bars signifies a stronger signal. Battery Level : Indicates the battery level of the remote controller. Frequency : Displays the ongoing communication frequency between the remote controller and the robot. Robot Configuration : Indicates the current robot configuration, including Point-Foot, Wheel-Foot and Sole-Foot.
9 Copyright © 2024 LimX Dynamics Inc. All Rights Reserved

TRON 1 Quick Start Guide
Power-On Zero Calibration
1. Upon powering on the robot, you will notice the status indicator light change from white to blue or green.
2. Ensure the robot is hoisted or lifted, maintaining a height of at least 30 centimeters above the ground, as illustrated in the flowing image.
1. To initiate the automatic zero calibration process, press the L1 and R1 buttons simultaneously on the remote controller. It is crucial to ensure that the robot’s joints remain unobstructed during this calibration.
2. 4.Once the zero calibration is successfully completed, gently descend the robot’s lower legs to the ground in preparation for a smooth stand-up, as depicted in the provided image.
10 Copyright © 2024 LimX Dynamics Inc. All Rights Reserved

TRON 1 Quick Start Guide
Usage Process
Power-on

Automatic Judgment

Developer Mode
No Preset Control Algorithm

Press R1+Left Buttons to Set Developer Mode

Automatic

Remote Control Mode
Run Preset Control Algorithm

Automatic

Press R1+Right Buttons to Set Non-
Developer Mode

Idle Status

Press L1+R1 Buttons

Automatic Reset

Press L1+O Buttons

Squatting Status

Preparing Status

Press L1+X Buttons

Press L1+ Buttons

Walking State

Global Press L1+ Buttons

Idle Status

Press Left & Right Joystick Buttons

Emergency Stop

Press Right Joystick

Emergency Stop Release

Side to Side Movement

Forward and Backward Movement

In-place Rotation

Offset Correction

End

Up, Down, Left, and Right Directional Buttons

Remote Controller Buttons Instructions

TRON 1 Quick Start Guide

Concept

Status Description

Precondition

Buttons

Automatic Reset
Idle Status

All joints initialization
All joint motors are in damping mode, causing them to slowly descend. The robot will enter this mode upon startup.

Idle Status

L1+R1

Global (excluding emergency stop status)

L1+

Preparing Status

Legs will be automatically powered on and execute movements of touching the ground and lifting the upper body.

Idle Status

Walking Status

Robot stands automatically to enter stepping status. Can be remotely controlled.

Standing Status

Four-directional Movement
Rotation in Place
Forward Tilt Correction
Backward Tilt Correction
Left Tilt Correction
Right Tilt Correction

Robot follows remote commands, moves forward, backward, left and right.
The robot rotates clockwise and counterclockwise according to remote commands.
Real-time correction of the robot’s tendency to move forward during in-place marching
Real-time correction of the robot’s tendency to move backward during in-place stepping
Real-time correction of the robot’s tendency to move forward-left during in-place stepping
Real-time correction of the robot’s tendency to move forward-right during inplace stepping

Walking Status
Walking Status
In-Place Stepping Status
In-Place Stepping Status
In-Place Stepping Status
In-Place Stepping Status

L1+ L1+ Left Joystick Right Joystick Down Button Up Button Right Button Left Button

Notes
Requires external assistance, with lower legs extended and both feet touching the ground.
Invalid when pushed forward or backward.

TRON 1 Quick Start Guide

Concept

Status Description

Precondition

Buttons

Squatting Status

The robot squats autonomously.

Walking Status

L1+ X

Developer Mode

Users can perform secondary development, deploy programs, and exercise control.

Idle Status

Remote Control Mode

Used for remotely controlling robot movement in the context of an RL (Reinforcement Learning) model.

Idle Status

R1+Left R1+Right

Notes
Hand support is needed, otherwise the robot is prone to falling down.
Remains valid until manually switched to another mode (the developer mode).

Emergency Stop Button

All motor drivers power off immediately, but battery power supply and light signals remain on, and the whole machine will drop.

Global Position

Left joystick + Right joystick

Press both buttons simultaneously to trigger an emergency stop, which will immediately cut off power supply to all motors regardless of the current mode or state.

Emergency Stop Release

Motor Power on

Switching Mode

Under Wheel-Foot configuration, switching between Ground mode / Stair mode

Emergency Stop Status

Right joystick

Single-click the right joystick to release the emergency stop. Clicking in other modes has no effect. After releasing the emergency stop, the robot will enter damping mode.

Wheel-Foot configuration

Share Button

Long press for 2s

TRON 1 Quick Start Guide
Wired Connection
· Attach an Ethernet cable to the robot’s rear Gigabit Ethernet port for connectivity. · Modify the IP address of your personal computer to ensure it is within the same subnet
as the robot to establish a connection with the robot.
For example, to ensure compatibility with the robot’s network, set the IP address of your personal computer to 10.192.1.120.
Wireless Connection
· Once the robot has completed its boot-up process, connect your personal computer to the robot’s Wi-Fi network, which generally follows the naming convention of “P441C_01” or “PF_P441C_01”.
· Enter the Wi-Fi password “12345678”.
15 Copyright © 2024 LimX Dynamics Inc. All Rights Reserved

TRON 1 Quick Start Guide
Robot Software Upgrade
Please go to the LimX Robot Manager page through the browser and select the version of the robot software that you have downloaded in advance for the upgrade. The steps are as follows:
Connection and IP settings: · Connect your personal computer to the robot by following the instructions in the
“Establishing a Connection to the Robot” section. · Verify that the robot can successfully respond to the Shell command “ping
10.192.1.2” to ensure network communication with your computer. Visit the LimX Robot Manager page: · Enter the following address in your browser’s address bar: http://10.192.1.2:8080 to
access the LimX Robot Manager page.
Select and upgrade the software: · Select the file you have downloaded for the upgrade and proceed with the upgrade
process. · Once the upgrade is complete, the robot’s host computer will automatically restart.
16 Copyright © 2024 LimX Dynamics Inc. All Rights Reserved

Documents / Resources

LIMX DYNAMICS TRON 1 Multi Modal Biped Robot [pdf] User Guide
TRON_1, TRON 1 Multi Modal Biped Robot, TRON 1, Multi Modal Biped Robot, Modal Biped Robot, Biped Robot, Robot

References

User Manual

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