Tesla Team is Building INSANELY ELEGANT Motors for TeslaBot! Uncovering Details with Scott Walter
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Published 2022-11-06
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Lex's Interview: • Andrej Karpathy: Tesla AI, Self-Drivi...
All Comments (21)
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What I should have mentioned about the possible compliant joint in the foot. This could help prevent the foot from slipping in the lateral direction during stride. The leg is really a 5 DOF mechanism, but this gives the kinematics an additional sixth degree-of-freedom to maintain the foot orientation with its contact surface. Otherwise the torso/pelvis may need to sway unnaturally to counter this affect.
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And most people think Tesla is only an EV car company. Their Energy division is also doing amazing stuff hardware and software wise. I’m retired but it looks like a great place to work if you are sharp and willing to work hard.
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Thanks Guys! Excellent job of communicating the functions and construction of the actuator's to me. Your teaching skills are strong!
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They showed watering plants. Consider the range of motion, feedback, and processing to accurately do that task. Everything changes as the water exits the pitcher, requiring continuously updated movement and feedback rates and logical evaluation of an entirely dynamic activity.
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Again Tesla is totally open about what they are doing and show so much more of the development. You don't see any other Robotis maker showing their design and skill level for such things. Amazing..
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I can imagine that once the design is finalized that these units like legs and arms etc will be turned into castings with all mounting points cast in place to greatly simplify the construction of this robot. Why not take it a step further and cast the outside of the motors into the casting as well.
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Cool video as usual. Keep the excitement going!
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Thank you for making this video. I saw the Tesla actuator video the other day and was hoping someone would do this and of course someone had. :)
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Scott is awesome!
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Imagine integrating all this very sophisticated hardware with the software, amazing engineering, hw and sw. Exciting place to work.
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6:16 I also thought this was showing and end mill or thread cutter! Wow! Can't wait to see more of this in finer detail
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Those planetary gears are on the inside rod as well, so not only is the outside traveling, the inside is traveling as well. That keeps it "attached" but it can rotate if not for the end joint. 11:00
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That's amazing stuff. Makes me think I should have gone into mechanical engineering.
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Elegant indeed. Smoother than harmonic drives
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On the shaft of the actuator not spinning, as long as it it installed there is no reason for there to be any internal mechanism to prevent it, as the installation will prevent it, plus as you said this will also allow some freedom of motion to prevent binding. Or in other words an uninstalled actuator might have its shaft spin around if motor is operated, but it would never be operated like that so it doesn't matter.
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Super cool analysis of the ankle. I think it must be a measurement of the foot plate angle.
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Thanks gents.
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The thinner control line going into the ankle sensors is probably fiber optic, multiplexed inside the elastomeric sensor suite. I suspect they need to sense a number of parameters from that area, not just one.
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15:30 - Ankle joint looked like it's a half ball joint. actually a Dome top Engine piston looks similar
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@25:45 you mention that there are 4 large actuators -- 2 quads and 2 hamstring actuators. Why would there be hamstring actuators? Unlike a real muscle, aren't the quad actuators capable of pushing as well as pulling? Or is there a possible problem with buckling if they push too hard?
