You explained one of the marvels of engineering and how basic principles of stability and control are used in its design through fascinating animations and simple sentences. Equations are great, but first the concepts must be understood to some extent using words and visualizations. Thank you very much.
The name Asagumo was chosen by the company's founder/CEO, Mr. Pavlo Tanasyuk, who was impressed by the phrase "A spider in the morning brings good fortune" when he visited Japan. "asa" means morning, and "gumo" means spider. It's a fitting name, since the spacecraft will probably land on the Moon in the "morning". From 🇯🇵
Is there a concern with a legged rover on the increased number of moving parts? With 3 motors per leg and no redundancy, a single failure seem like it would disable the whole rover. It might be able to limp along with a leg disabled, but it would not be nearly as stable.
4 motors become 12 with a much smaller solar panel footprint. An Axel can hold more weight than the leg with less effort. Not to mention that the motors on the legs have to constantly resist gravity so there's no turning off. For locking joints you would have to include some sort a gear ratio that would also make motors work harder. There's definite advantages but I think for more niche situations. like in addition to a rover that can detach for short periods to investigate areas too dangerous for the rover.
his big brother with 8 legs arrives and removes broken leg and donates one of his then returns to the mother ship to get fixed to be able to return to his sister
@@cornbreadcuban5456 Any gearing that helps the legs not move without power would also help the motor work less. A gear system that is hard to backdrive is one that amplifies torque by sacrificing speed. Generally speaking it is easier to use a geared motor than it is to use a direct drive and so unless designed otherwise most electric drive legged robots are not back drivable under their own weight and stay in the current position when powered off. It's actually not accurate that increased motor count increases failure rate in some linear fashion. It simply means that when you reach the far side of the failure bathtub curve you expect immediate failure rather than having a chance at continued operation.
one issue with legs is a large amount of energy is wasted repositioning the legs for the next step where a wheel is 100% turning energy into motion all the time
@@yorinov2001 in an ideal scenario both legs and wheels have equal efficiency, Level ground that does not deform under pressure, wheels and legs that don't deform, perfect recapture of inertial energy ect. So the only reason one system is more or less efficient is because of the stuff the is unequally imperfect, between them. Each motion forward and backward on a leg is the same efficiency but every up and down motion wastes some energy to friction and motor inefficiency. The same is true for every bounce of the suspension on a tire or the deformation of the rubber in the wheels. In general on hard flat terrain wheels are more efficient but on everything else legs generally are more efficient. This is because terrain deformation dominates energy losses and legs deform terrain less and have no rolling friction to deal with.
And what prevents you from making a rover according to the classic wheel scheme, but with the possibility of shifting the center of gravity? After all, you can use the same principle of chassis suspension, but on wheels, it's easier and less energy-consuming. In extreme cases, if the climb is really very steep and the wheels slip, or the climb has obstacles in the form of stones, you can block the wheels and overcome the climb by walking.
This is quite possible, but then the rover will become even more complicated, it will be a wheeled rover + walking = even more possible points of failure. An even bigger plus is that the rover can roll itself over after a fall, which may not be so easy to do if the wheels are bolted to the legs. Such a hybrid will also be heavier than a walking rover. Yes, it will consume less energy while riding, but more while walking. There are also problems with the suspension, which is difficult to implement on such a hybrid. In general, the idea of such a hybrid is not new, and it has some sense, but also its drawbacks.
@@Alexandr_Lee I personally see this idea as more promising than just a walking rover. I don't see any significant problems in putting the overturned rover back on the wheels, as well as problems with the suspension.
@@Top_RUclips_Music I say we send the walking rover a car. The walking rover can study things close in rugget tearain, whaile the car can carry stuff and drive long distance on semi smooth ground
I think one advantage legged rover could have not mentioned by the video is that you could give the legs some kind of suction or gripping mechanism to handle even more extreme terrain. Like climbing vertically up and down a cliff.
If you think about, these could be parked and a robotic arm could be installed to clean the solar panel. This would be huge because now we can perhaps double the life time of our mission
I am sure they could. but sometimes depending on the mission having both options might add too much weight and complexity. Having wheels, legs or both each have drawbacks and advantages. I am sure the best of these options or even other movement options (flight for instance on planets with atmosphere) depending on the mission and terrain features will dictate what is chosen.
doesn't the center of gravity also shift slightly in the direction of the lifted leg since that leg is now also weight that must be supported by the other 3?
No the CG stays the same. Yes the other legs now must support the weight to the apparent weight they feel changes as well as the torque being applied the system. Yes extension of the leg away from the body changes CG but not because its off the ground but because the mass is on a longer lever arm. Lifting a leg and extending it can move the CG far enough that it leaves the stability triangle.
I asked the same question to a nasa engineer long time ago. He said the reason why they stick with the wheel design is because it's reliable. More moving parts means more room to malfunction.
The nasa minds group i worked with wanted to create a leggen robot but we went with 6 legs for stability. Otherwise a 4 legged bot has to move 1 single limb at a time. It basically crawls
Yes First u have to decide how much height the lift should carry suppose an average man weight to be 75 kg if u want 5 people lift capacity then Total lift to carry weight is 5*75 Know how it's work It's is based on counterweight system cable In this if u put weight of 100 kg Then from other cable an weight is attach which go upwords when u come download and when u go downward then it's go upwards..
Horizon is very close on the Moon. In order to see where you are going you want cameras on top of the mast as high as reasonably possible. Legged robot have his cameras lower compared to a similar wheeled one. It means it can hardly see where it is going. It also has twice the motor count and control logic is simple only as long as you walk on flat surface and your legs do not trip on anything.
Legged system usses more energy and computational power hence not preferred for space exploration as of right now.. may be advancement in technology would allow it
Having redundant solar panels adds weight and complexity. Looks like the legs articulate only so much too. Sometimes just being able to flip back over is easier, cheaper and less complex and over all better.
Just do one thing in Wheeled ROVER , made inside a mechanism and program such that it shifts inside heavy parts in front side of rover while climbing the Slope . So it won't fall or disbalance just climb. Motor must be Powerful and Grip of tyres be best. SORRY IF THERE IS ANY/MANY Mistake 🙏🙏🙏🙏🔥🔥
Do MPU6050's work in space? Any info on how the touch and torque sensors work or what is being used for them and the servos. Any other tech specs you know about? What are the approximate dimensions of the main cube?
OK checked, -40 to +85C, moon is -183 to +106C so guess it's going to have to be heated/cooled in the center of the main body. Dunno about radiation resilience.
I think a design with powered wheels attached to a simpler form of extremities would be better. The wheels are better most of the time and the legs need to be actuated only when there are obstacles.
Can you explain what did you mean when saying about moving one motor ? Because it was visible that every other motor also moved. If my understanding is correct, it should mean that you're controlling one motor's variables and others are adjusted to satisfy some constraints. If this is the case, what are those constraints ?
I think he was only moving one motor in the explanation at a time for clarity's sake. Similarly the jerky movement was to illustrate that the motors may have a minimum movement that they can reliably measure, at motor this is often barely perceptible but can be amplified the longer the attached lever. Even so it was exaggerated here just for illustrative purposes.
I'm not sure This guy know's about inverse kinematics. (If anyone is curious, I built a 2 legged robot on my channel and I explain inverse kinematics works)
Sadly, but moving one leg at a time is much unstable than moving dynamically all 4. All robots that tries this one by one step less stable than dynamically controlled. This is why Boston dynamics are step ahead in stability.
Boston dynamics doesn't lift 2 legs at a time because its more stable. They do it because its faster. By smoothly having a weight shift that flows into the next you get continues motion of the legs and larger possible steps. A robot that moves slower and more methodically will always be capable of more stability given the same level of technology. Your claim would be no diffrent than saying that a human who is jogging across rocky terrain is less likely to slip and fall then one that tests each step before shifting their weight onto that foot slowly. The real reason boston dynamics is more stable is they have faster more capable control systems that can react quickly. A robot like this generally can't move its limbs very fast and so cannot respond to disruptions in stability that are unexpected quickly enough to catch itself The analogy for a human is an old vs a young human. A young human can move fast or slow and is more stable while slow. An old human can't move fast and for the sake of analogy has the same stability while slow. Both are perturbed from a stable state the young human flails their arms and catches themselves while the old human can't respond quickly and falls. Your initial comparison is like saying the slow methodical movement of the old human is why they fell while the fast jogging of the young human kept them upright. In reality the young human just has better reaction times and can move their limbs quickly enough to catch themselves and would be more stable if they had been moving slow like the old human was.
Edit: It did get delayed, it's expected to launch in 2022 according to the wiki for Astrobotic. For some reason I'm not seeing much info on this rover… I see a bunch of news articles saying it would launch in 2021 but I haven't heard of an actual launch so I'll assume it got delayed? I also see lots of pictures of prototype designs on Spacebit's instagram but not a final manufactured design which is weird for something that should've been ready to launch last year. I'd be interested if anyone knows more. In any case, I wish the team luck!
I've been following along. They've shown some short videos on their twitter of it moving with bags on it's legs (to avoid dust?) but indeed they didn't seem to be anywhere near ready. One of their main engineers or experienced people also passed away. This video shows more info than spacebit have ever released to my mind and I wonder where it came from. Spacebit have largely just been re-tweeting other people's space stuff for ages now. Given they come from a background in some sort of space blockchain thing, I'd kinda given them up as someone's pipe dream. They seem to be all talk and no substance. It would be nice if they ever came to anything but I'm not holding my breath anymore.
Nature's design wins again! 👏
Well ever seen a Jaguar with four wheels insted of legs
@@rambo8863 machines doesn't have blood flow that fixes its parts, so they need to be replaceable 👍
You explained one of the marvels of engineering and how basic principles of stability and control are used in its design through fascinating animations and simple sentences. Equations are great, but first the concepts must be understood to some extent using words and visualizations. Thank you very much.
ruclips.net/video/CJWwusH8gaA/видео.html
aaoa
Note I cant work and gavatey is different on Mars or on a noer planet so it will bounce and it will sezz because the sand
The name Asagumo was chosen by the company's founder/CEO, Mr. Pavlo Tanasyuk, who was impressed by the phrase "A spider in the morning brings good fortune" when he visited Japan.
"asa" means morning, and "gumo" means spider.
It's a fitting name, since the spacecraft will probably land on the Moon in the "morning".
From 🇯🇵
ah yes they had photos of a prototype in a lava tube in Japan IIRC. But I don't think there was a video?
Is there a concern with a legged rover on the increased number of moving parts? With 3 motors per leg and no redundancy, a single failure seem like it would disable the whole rover. It might be able to limp along with a leg disabled, but it would not be nearly as stable.
4 motors become 12 with a much smaller solar panel footprint. An Axel can hold more weight than the leg with less effort. Not to mention that the motors on the legs have to constantly resist gravity so there's no turning off. For locking joints you would have to include some sort a gear ratio that would also make motors work harder. There's definite advantages but I think for more niche situations. like in addition to a rover that can detach for short periods to investigate areas too dangerous for the rover.
his big brother with 8 legs arrives and removes broken leg and donates one of his then returns to the mother ship to get fixed to be able to return to his sister
@@cornbreadcuban5456 Any gearing that helps the legs not move without power would also help the motor work less.
A gear system that is hard to backdrive is one that amplifies torque by sacrificing speed.
Generally speaking it is easier to use a geared motor than it is to use a direct drive and so unless designed otherwise most electric drive legged robots are not back drivable under their own weight and stay in the current position when powered off.
It's actually not accurate that increased motor count increases failure rate in some linear fashion. It simply means that when you reach the far side of the failure bathtub curve you expect immediate failure rather than having a chance at continued operation.
one issue with legs is a large amount of energy is wasted repositioning the legs for the next step where a wheel is 100% turning energy into motion all the time
@@yorinov2001 in an ideal scenario both legs and wheels have equal efficiency,
Level ground that does not deform under pressure, wheels and legs that don't deform, perfect recapture of inertial energy ect.
So the only reason one system is more or less efficient is because of the stuff the is unequally imperfect, between them.
Each motion forward and backward on a leg is the same efficiency but every up and down motion wastes some energy to friction and motor inefficiency.
The same is true for every bounce of the suspension on a tire or the deformation of the rubber in the wheels.
In general on hard flat terrain wheels are more efficient but on everything else legs generally are more efficient.
This is because terrain deformation dominates energy losses and legs deform terrain less and have no rolling friction to deal with.
You make it looks easy. Thank you so much for sharing this knowledge.
For efficiency of legged rover on flat land, I think wheel can be introduced on the legs
And what prevents you from making a rover according to the classic wheel scheme, but with the possibility of shifting the center of gravity? After all, you can use the same principle of chassis suspension, but on wheels, it's easier and less energy-consuming.
In extreme cases, if the climb is really very steep and the wheels slip, or the climb has obstacles in the form of stones, you can block the wheels and overcome the climb by walking.
This is quite possible, but then the rover will become even more complicated, it will be a wheeled rover + walking = even more possible points of failure. An even bigger plus is that the rover can roll itself over after a fall, which may not be so easy to do if the wheels are bolted to the legs. Such a hybrid will also be heavier than a walking rover. Yes, it will consume less energy while riding, but more while walking. There are also problems with the suspension, which is difficult to implement on such a hybrid.
In general, the idea of such a hybrid is not new, and it has some sense, but also its drawbacks.
@@Alexandr_Lee I personally see this idea as more promising than just a walking rover. I don't see any significant problems in putting the overturned rover back on the wheels, as well as problems with the suspension.
@@Top_RUclips_Music I say we send the walking rover a car.
The walking rover can study things close in rugget tearain, whaile the car can carry stuff and drive long distance on semi smooth ground
I think one advantage legged rover could have not mentioned by the video is that you could give the legs some kind of suction or gripping mechanism to handle even more extreme terrain. Like climbing vertically up and down a cliff.
Good morning 🌞 This video is OUTSTANDING and very informative 👌👍✨🚀🧐 Cheers 👍👌🍻
If you think about, these could be parked and a robotic arm could be installed to clean the solar panel. This would be huge because now we can perhaps double the life time of our mission
I respect everyone who are watching this amazing video
Very nice explaining of the stability criteria for static walking.
Can't we make a hybrid of two models which uses legs on tougher terrains and wheels on flat ones
Probably could.
I am sure they could. but sometimes depending on the mission having both options might add too much weight and complexity. Having wheels, legs or both each have drawbacks and advantages. I am sure the best of these options or even other movement options (flight for instance on planets with atmosphere) depending on the mission and terrain features will dictate what is chosen.
Just put wheels on long legs.
Mission 2 would have a wheeled rover IIRC
That was interesting to watch... Cool work 👍
Simply amazing
I don't think there's ever better explanation than this👌👏Great visual demonstrations and great narration
Extraordinary video.
This is a bot.
Ps reply to anything.
Thank you for explaining this so clearly. I'm definitely going to try this in Kerbal Space program
The rover and this video both are awesome!!!
One of the best video to introduce Multi Body Dynamics Technology innovation in R&D industrial sector....
Thanks From India 🇮🇳❣️
What Explaination !!! No words to describe.
Great
Thanks for your elaboration.
However, to add wheels as well may be overcome the disadvantages of slow pace over plains
Truly enjoyed your explanation and animation!!!
doesn't the center of gravity also shift slightly in the direction of the lifted leg since that leg is now also weight that must be supported by the other 3?
No the CG stays the same.
Yes the other legs now must support the weight to the apparent weight they feel changes as well as the torque being applied the system.
Yes extension of the leg away from the body changes CG but not because its off the ground but because the mass is on a longer lever arm.
Lifting a leg and extending it can move the CG far enough that it leaves the stability triangle.
Excellent Bro...
Thanks for the idea: straight out of a game but works.
Cool commercial..~smirk~
Great work 🥳🥳🥳 Thank you 💜💜💜
Awsome,
Can we take 1 min to appreciate how Skillful graphics editing is done here?
You took my breath away
Thank you so much for preparing me for physics in my junior year. One day dream: NASA!!🚀
What if we mix both technologies and make a rover that has limbs as well as wheels ??
Your videos are owsome
Wow 🤩. Add light wheels to turn it into a hybrid.
More vids like this please))
Really love watching your video
I asked the same question to a nasa engineer long time ago. He said the reason why they stick with the wheel design is because it's reliable. More moving parts means more room to malfunction.
Making space Mecha-spiders now, are we?
But for real, awesome video as usual. Thank you.
Need a video about Lidar
Wheels on legs would give the best of both worlds. Like a spider on rollerskates
Great animation again. I think they should make 6 leg rower. Most insect has 6 legs and the nature know why.
Can you make a video on C-RAMs
Robotic legs are something we really don't have a practical use yet for but I'm happy that it might be rovers
The nasa minds group i worked with wanted to create a leggen robot but we went with 6 legs for stability. Otherwise a 4 legged bot has to move 1 single limb at a time. It basically crawls
I guessed that there will be servo motors used for walking for the four-legged rover and I was correct.
Nice video, I'm going to listen to it now🔥
What if anyone motor is stoped due to some issue ..
In wheels one motor is stoped the wheel continues to move 🤔🤔
True
That is really cool.
Cool, biomimicry, again. Nature perfected it first.
God bless.
Yes
First u have to decide how much height the lift should carry suppose an average man weight to be 75 kg
if u want 5 people lift capacity then Total lift to carry weight is 5*75
Know how it's work
It's is based on counterweight system cable
In this if u put weight of 100 kg
Then from other cable an weight is attach which go upwords when u come download and when u go downward then it's go upwards..
Next upgrade:
how to jump forward
how to roll downhills
Awesome sir🤘
Very Nice Bro! Get Good People!
8:30 coolest part of the video
thanks
Can you make a video about motor command ?
Horizon is very close on the Moon. In order to see where you are going you want cameras on top of the mast as high as reasonably possible. Legged robot have his cameras lower compared to a similar wheeled one. It means it can hardly see where it is going. It also has twice the motor count and control logic is simple only as long as you walk on flat surface and your legs do not trip on anything.
I can't wait to see one on Mars.
Fantastic.
Miniaturize this and you have the perfect killer.
Is there a future for mankind ?
Oh snap!It is my dream to see whats in those lava tubes! Probably whole bunch of nothing but still, very exciting
Brilliant Spiders do this better since billion years.
หลายสิบปี มาแล้ว ผมได้เสนอ ไอเดีย ให้ กับ ทีมนิสิต มหาลัยจุฬาฯ ประเทศไทย ช่วง ดร อาชิโม มา แสดงหุ่นยนต์ โดย ให้ เปลี่ยนจาก ระบบ มอเตอร์ มา ใช้ รีเลย์ยกหนีแรงโน้มถ่วง ครับ
Legged system usses more energy and computational power hence not preferred for space exploration as of right now.. may be advancement in technology would allow it
They should make it it reversible so that it has no upside down. It can just stand back up that way if it flips over.
I'm sure they thought of that
@@curiodyssey3867 True. It might make the instruments onboard have to be more complicated than necessary for that.
or they found some other issue that im not smart enough to think of 😂
Having redundant solar panels adds weight and complexity. Looks like the legs articulate only so much too. Sometimes just being able to flip back over is easier, cheaper and less complex and over all better.
I respect you 🇮🇳
Just do one thing in Wheeled ROVER , made inside a mechanism and program such that it shifts inside heavy parts in front side of rover while climbing the Slope . So it won't fall or disbalance just climb. Motor must be Powerful and Grip of tyres be best.
SORRY IF THERE IS ANY/MANY Mistake 🙏🙏🙏🙏🔥🔥
great 👍🏻 sir
I'm the first to like the video 😀🇮🇳
One correction: the center of gravity shift is also doable with a wheeled Rower, the wheels just need to be attached to legs. :D 2:22
Jesús, the control systems and electronics must be a huge nightmare.
Do MPU6050's work in space? Any info on how the touch and torque sensors work or what is being used for them and the servos. Any other tech specs you know about? What are the approximate dimensions of the main cube?
OK checked, -40 to +85C, moon is -183 to +106C so guess it's going to have to be heated/cooled in the center of the main body. Dunno about radiation resilience.
I love how ridiculously slow the solar pannel on it's head is, it's very cute, I hope they're not implying this is supposed to power the rover lol
And a cannon on the back to deal with extraterrestrials.
This is like the dwarf spider droid in Star Wars
I think a design with powered wheels attached to a simpler form of extremities would be better. The wheels are better most of the time and the legs need to be actuated only when there are obstacles.
Since the contact surface area is very small in case of a rover will that not contribute towards reduced stability ?
Hello. Klasse video 👍👍👍👍👍👍👍👍Thanks.... Fim 🚂👮♂️✋
sir, your explanation is very well. can you explain how to print billions of transistors in a single semiconductor surface.
This is the first time I give a channel five stars.. You're amazing
Very good
This is a bot.
Add small wheel to each leg! And its fast!
Molly! DRG for the win.
if the robot tipped over, wouldn‘t the solarpannels get completely demolished?
F* yeah moon spiders!
Can you explain what did you mean when saying about moving one motor ?
Because it was visible that every other motor also moved.
If my understanding is correct, it should mean that you're controlling one motor's variables and others are adjusted to satisfy some constraints. If this is the case, what are those constraints ?
I think he was only moving one motor in the explanation at a time for clarity's sake. Similarly the jerky movement was to illustrate that the motors may have a minimum movement that they can reliably measure, at motor this is often barely perceptible but can be amplified the longer the attached lever. Even so it was exaggerated here just for illustrative purposes.
Hi Lesics, sorry for the question but what software do you use for the animations? xD
I'm not sure This guy know's about inverse kinematics. (If anyone is curious, I built a 2 legged robot on my channel and I explain inverse kinematics works)
If we attach some legs to traditional rovers it might help it in difficult terrain
Sadly, but moving one leg at a time is much unstable than moving dynamically all 4.
All robots that tries this one by one step less stable than dynamically controlled. This is why Boston dynamics are step ahead in stability.
Boston dynamics doesn't lift 2 legs at a time because its more stable. They do it because its faster.
By smoothly having a weight shift that flows into the next you get continues motion of the legs and larger possible steps.
A robot that moves slower and more methodically will always be capable of more stability given the same level of technology.
Your claim would be no diffrent than saying that a human who is jogging across rocky terrain is less likely to slip and fall then one that tests each step before shifting their weight onto that foot slowly.
The real reason boston dynamics is more stable is they have faster more capable control systems that can react quickly. A robot like this generally can't move its limbs very fast and so cannot respond to disruptions in stability that are unexpected quickly enough to catch itself
The analogy for a human is an old vs a young human.
A young human can move fast or slow and is more stable while slow.
An old human can't move fast and for the sake of analogy has the same stability while slow.
Both are perturbed from a stable state the young human flails their arms and catches themselves while the old human can't respond quickly and falls.
Your initial comparison is like saying the slow methodical movement of the old human is why they fell while the fast jogging of the young human kept them upright. In reality the young human just has better reaction times and can move their limbs quickly enough to catch themselves and would be more stable if they had been moving slow like the old human was.
In Which software we can demonstrate these kind concept?
my ksp game thanks you
Edit: It did get delayed, it's expected to launch in 2022 according to the wiki for Astrobotic.
For some reason I'm not seeing much info on this rover… I see a bunch of news articles saying it would launch in 2021 but I haven't heard of an actual launch so I'll assume it got delayed? I also see lots of pictures of prototype designs on Spacebit's instagram but not a final manufactured design which is weird for something that should've been ready to launch last year. I'd be interested if anyone knows more. In any case, I wish the team luck!
I've been following along. They've shown some short videos on their twitter of it moving with bags on it's legs (to avoid dust?) but indeed they didn't seem to be anywhere near ready. One of their main engineers or experienced people also passed away. This video shows more info than spacebit have ever released to my mind and I wonder where it came from. Spacebit have largely just been re-tweeting other people's space stuff for ages now. Given they come from a background in some sort of space blockchain thing, I'd kinda given them up as someone's pipe dream. They seem to be all talk and no substance. It would be nice if they ever came to anything but I'm not holding my breath anymore.
Can you explain/make video how elevator/lift in buildings works?
This is a bot.
Add 2 more legs and make it walk like ant... should be fast on flat surface as well. Downside: even more complex movement.
Weight would also be a downside. But depending on the mission and terrain it will encounter might be better.
@@MrT------5743 Indeed - it would be also worse on energy consumption metric.
Next:explain how the Soviet Mars Prop-m ski rover
Sir we can put extra wheels for flat surface
Basically the same as how we walk but with 2 extra legs
What program are you using to make this animation? (if anyone knows please tell me)
Could be blender or 3d studio max, two i can think off of the top of my head.
make a video on working of JCB
Piggy back this on a Curiosity-type rover and come up with a cool name for the pair.