Avoiding The Singularity! Bot DEEP DIVE W/Scott Walter
ฝัง
- เผยแพร่เมื่อ 29 ก.พ. 2024
- Join Dr Scott Walter and me as Scott tells us how to build a better Bot shoulder for humanoid bots like Optimus--and to avoid the dreaded "black hole" singularity that awaits the unwary robot maker! The math gets crazy, but Scott makes it all very understandable with visuals, so come geek out with us about joint angles--and Hans and Franz as a bonus!
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Thank you Gentlemen!
I’m living the dream…..listening to you guys, standing at the kitchen sink, looking out at the Pacific Ocean, and thinking…….yes, lots of scapula movement in dish washing😎
Both mad as a box of frogs. But both brilliant at the same time :)
That intro was great. 😂😂😂
😂 for the shoulders 😂
0:00: 🤖 Exploring advancements in robot shoulders with Dr. Scott Walter, including a discussion on humanoid robot videos.
4:13: ⚙️ Understanding the complexity of robot joints and degrees of freedom in industrial and humanoid bots.
8:19: 🤖 Analysis of robot arm mechanics and challenges with singularities in industrial robots.
12:39: ⚙️ Simulation of robot movements near singularity, avoiding forbidden zones.
16:58: ⚙️ Optimizing robot design to avoid singularities and improve shoulder functionality.
20:58: 🤖 Understanding humanoid bot joints and actuation mechanisms.
24:53: ⚙️ Innovative design considerations for robotic joints to optimize functionality and compactness.
29:11: 🤖 Engineering trade-offs in motor size based on moment of inertia and torque requirements.
33:19: 🤖 Analysis of a robot's balance and weight distribution in a rendered image.
37:37: 💡 Discussing the importance of limiting degrees of freedom in robotic design for precise movement.
41:20: ⚙️ Exploring the capabilities of neural networks in controlling multiple tasks simultaneously and the characteristics of linear actuators.
45:14: ⚙️ Advancements in neural networks enable complex problem-solving for robots using linear actuators.
49:19: ⚡️ Discussion on the rapid advancement of AI technology and its integration into Tesla's operations.
Timestamps by Tammy AI
Pneumatic linear actuators are fast and compact, but solenoid valves are bulky and heavy. If those could replaced with nitinol reeds or something that could do the job.
Non-engineer, non-designer here. I find it disappointing that no good polymer candidates have been discovered and no promising research is being made on ElectroActivePolymers that could actually lead to locomotive actuators. I found one guy but I lost him. He kinda sounded like he was giving up but he found a material with hint of promise. I could imagine hair sized tube n cylinders that changes shape under current like a worm gear, worming its way up and down. Friction n Mechanical stress would probably tear them apart quickly.
I was reading years ago about carbon nanotubes being used as “artificial muscle“ because they will expand and contract in presence of (then out of…) an electric charge. It seemed very promising at the time at least.
Great presentation.
The human wrist singularity is absent because it is advantageous to not have the singularity. It's called evolution.
BASIC MOTIONS
Flexion-extension
Dorsiflexion-plantar flexion (toes and ankle)
Adduction-abduction (in-out)
Internal-external rotation (shoulder, hip, +/- ankle)
Pronation-supination (forearm, hand/wrist)
Inversion-eversion (foot/ankle)
Opposition (thumb)
Muscles are linear actuators. Injection of rotation into sequences of movements has led to many of the world records in individual sports (long jump, high jump, pole vault, shotput, javalin).
Human function is so much more than motion mechanics. For example, skin moisture, texture, motion, and conformation are all major contributors to most of the types of grip and to gait.
To see Optimus making tight turns while walking look at the most distant bot in the shirt folding video.
This is definitely my level of crazy 😂
I’m Hanz, and I’m Franz (Van Holstein? 😂). And we’re here to pump you up.
That intro 😂 Love it.
I would add another 2 dof to each shoulder, to simulate the shoulder blades, and adopt a totally different approach to IK which doesn't use trigonometry in the first approximation. but instead have trained tables of "most comfortable" modes to get the end effector in each place in a coarse cubemap representing the reach domain. Fine positioning could then revert to trig but without risk of gimbal lock as the axes would default to "most comfortable" which for rotary actuators would default to mid-travel.
You can actually get full human movement with only 3 shoulder joints. This isn't one but a easy fix would be to put the shoulders at a 45 degree angle upwards and the shoulder movement won't be as excessive and arms moving forward would be more natural however excessive movements would still happen if the arms were raised to be inline with the 45 degree angle.
17:44
John???? Was that a RUSH style inside joke?
42:20 O_o You *can* make linear motors. Hydraulics are naturally linear, and for electrical you basically unroll the rotor and stator rims on a line.
I thought East Africans long distance running Advantage was primarily because of the elevation of the plateau which means lower oxygen. Also the landscape of plains requires running which drives the people to be both great runners and be able to better extract oxygen from the air.
Abduction and adduction are necessary for weight shifting when lifting foot.
It would seem to me that the question of maintaining balance versus rotating or linear actuators (perhaps connected by metallic ribbons or bands like sheaths of muscle) really should favor the latter. Humans and animals maintain balance with tiny rapid subtle shifts in extremities. I've also wondered about memory metals, elastomers, and other materials which do extend or retract given a stimulus (like biological muscle cells) without a rotating bolt and nut like arrangement or equivalent in a linear actuator or step motor. Maybe those "artificial muscles" don't offer enough power to be useful.
wouldnt quaternions help here
Call me ignorant, I thought the singularity was solved using the CORDIC algorithm devised by J. E. VOLDER. It also installed on H. P Series of calculators, remember RPL logic. It had the advantage of using fast register shifting operations in hardware or machine code language.
I want to see artificial muscle instead of actuators. Years ago I was reading about carbon nano tubes expanding and contracting when electrical impulse was applied and then taken away, so they could be used as artificial muscle actuation.
Micro-hydraulics vs muscle wire (Nitinol or similar?)
What's the defining difference between an artificial muscle and other actuators?
Do you really need ANN to control linear actuators? The control solution mostly depends on the joints, the actuators really only matter for the mentioned singularity problem.
I think the turning Apptronik robot (35:45) is a 3D render and the render is cheating the turn. You can see the right foot turn on the ground when it is the only contact with the ground. How could it do that? Momentum and slip?
Human beings were designed to climb trees, not work in factories. Factories were designed around human abilities. Modern factories are built around robotic arms and the machine that builds the machine. We don’t need robots that can climb trees so hip and shoulder ball and socket is over-build. Adding rotational ability in the middle of the arm makes more sense. As a welder I have experienced the singularity many times. Moving the rest of my body always solves it.
I can think of a lot of jobs for robots similar to tree-climbing, such as working on ladders or steep roofs, descending on ropes, many construction and other jobs requiring high lifting and placement (such as raising a child into the air for fun or eventually building factories and stations in space or on other planets). The future will hold many innovative design improvements, while for now, these can wait.
Can anyone please tell us what are the hexagonal tiles a lot of TH-camrs have on their walls in the background? Are these sound baffles? Thx
As far as the shoulder joints/actuators are concerned; I'm surprised nobody is using a ball-and-socket joint like humans have to be the joint servos and actuators. Seems the range of motion and smooth movements would be much omproved with a ball and socket joint. This would apply to wrist, elbow, shoulder and possibly leg and hip movements and be more humanlike in its movements.
It's doesn't make sense the bones doesn't have ball joints and the bones is fitted in fiber muscle.
@@boltvalley3076Actually, I do think of bones as being very much like ball joints. Consider the hip and hip replacement .. there is a "ball" on the femur (mostly a cartilage pad) that fits a "socket" on the pelvic girdle.
That bot does not need to win a beauty contest nor does it need to resemble a ballerina. Ball joint action can be split in three different joints and it suddenly becomes much easier to overcome. Toe rotation to left and right is easy to do just turning the bone like two tubes inside rotating between knee and hip. Just an opinion. It doesn't need to be a perfect copy of humans. Just a thought.
Curious that you talk about poor motion planning, but if it is entirely neural net, then the robot will learn better motion over time. Despite this, it does get the job done.
👍
Wake me up when the bot can mow the grass, take out the garbage, vacuum and do laundry. Till then I'm sure it will revolutionize things but really only for businesses, not for individuals. It's when the bot becomes valuable to the individual that billions will be sold.
I'd argue that it will "revolutionize" things for the average individual far earlier than they can actually afford one, and then it will no longer be affordable because the average individual won't make enough money to buy one.
They'll have more than enough time to do those things for themselves😄
@@tracy419 Maybe... I'm hoping competition will get the cost down. Human maids/gardeners are too costly.
I too want to be a robot slave owner….
@@nickmcconnell1291 does the average person require a maid or gardener?
Put another way, how many average people can even afford one now?
Sounds like we may be worried about totally different problems.
You want a robot so you don't have to pay a human, and I want to make sure a human can survive without a job.
Not intended as a criticism, just the reality that not being able to get a personal robot right away is probably way down on the list of things that need to be addressed 😄
@@tracy419 I get your point. However the cat is out of the bag. Unless there are laws to prevent it (enter Socialism and the end of global trade to countries not having the same laws) then things are going to radically change over this and the next decade. Get ready for possible major civil unrest.
I am retired and getting older. My personal worries are being able to stay in my home and not let the property go to crap due to lack of maintenance. Right now I am more than capable but that will change in the coming decade. I am not rich enough to afford maids and gardeners and handymen to come in and spiff things up ona regular basis. Houses can in some ways be traps you know. This may force me to leave earlier than I normally would.
As demographics trend in the US towards the elderly, this will be more and more of a concern. Menial labor, such as this, would be a good use for bots..... saving the more creative jobs for humans. However, will this same technology displace more than just physical labor? Undoubtably.... it's already started.
🤖
I wish these videos were shorter, investing 1hr or so into each video is a lot. An edited 30 minute would be great. Thanks for the interesting videos.
There not Limiting the human form buy a human Ability ...snake arms not supposed to mimic human limitations ...human form does not mean it has to be bogged by human movement
I am watching your video DESPITE your video picture!!
You need to rehearse that another few times.
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When do you guys think Tesla or others will show a feminized shorter robot for softer business applications as hospitality, hotel/bar servants, etc.
Why🤔
@@yahanaashaqua yOU KNOW SOMETHING "sPILL THE bEANS"
Please don't ever do that again.
You guys need more practice... ROFL