TRON 1 - ROBOTS: Your Guide to the World of Robotics

TRON 1 is a multi-modal biped robot with both wheels and legs, serving as a research platform to support innovation in both robotic hardware and software.
TRON 1 has wheels attached to its legs — call them "whegs."
LimX Dynamics, a robotics firm founded in China in 2022, has advanced rapidly through several generations of machines, beginning with quadruped prototypes and progressing to wheeled-legged systems and full humanoid designs.
In 2024, it introduced TRON 1, its first multi-modal biped robot. Rather than being a finished commercial system, TRON 1 was developed as a flexible platform for research and development, reflecting the company’s emphasis on core technologies such as hardware design, motion control models, and software that links high-level decision-making with physical movement. The robot emerged as LimX brought these efforts together into a platform researchers could use to test reinforcement learning and embodied AI in real-world scenarios.
TRON 1 stands out for its modular design and its ability to operate in multiple locomotion modes. Its interchangeable lower-leg configurations — point feet, flat soles, or wheels — allow the same machine to shift between simplified legged dynamics, more humanlike walking, and hybrid wheeled mobility. This makes it useful for testing how different control strategies perform under varying physical conditions without changing platforms.
The system is also built to be accessible: It includes preloaded control algorithms, works with widely used simulation environments, and provides open interfaces for both hardware and software modification. Expansion kits add capabilities such as manipulation, environmental sensing, and voice interaction, extending its use beyond locomotion into broader robotics research.
Compared with more tightly integrated humanoid robots, TRON 1 distinguishes itself as a reconfigurable platform designed to support experimentation across multiple aspects of embodied intelligence.
Modular design. Three-in-one multi-modal locomotion capability: humanoid feet, point feet, or wheels. Fully open SDK and hardware interfaces.
limxdynamics.com/en/products/tron1
6 actuators, rated torque 30 Nm, peak torque 80 Nm
Aluminum alloy, plastic
Intel Core i3 processor, 16 GB of RAM
Compatible with Python and simulation platforms including NVIDIA Isaac, Mujoco, and Gazebo
240 Wh lithium battery providing over 2 hours of operation