CL-1

CL-1 is LimX Dynamics' first-generation full-size humanoid research robot, introduced through a dynamic testing demonstration in December 2023. The platform combines two arms and two legs with perception, gait planning and motion control. It was developed as a testbed for embodied-AI research and the control problems involved in moving a humanoid through changing terrain.

During the demonstration, CL-1 used real-time terrain perception to step onto a curb, climb stairs and descend a slope. Testing moved between indoor and outdoor environments and different lighting conditions. LimX developed its actuators and hardware alongside the control algorithms, building on earlier point-foot biped research. CL-1 is an earlier research identity within the company's humanoid development history, preceding the later Oli product programme.