Why spend so much effort to achieve an "exact" gear ratio? Having more zeros does not equal to being more "precise". Also, I wonder how resistant this mechanism is to wear and fatigue.
CARA – High precision robot dog using rope
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Re: CARA – High precision robot dog using rope
#102Why spend so much effort to achieve an "exact" gear ratio? Having more zeros does not equal to being more "precise". Also, I wonder how resistant this mechanism is to wear and fatigue.
Well, it probably wasn't that much effort. When you're 3D printing you're going to end up printing everything 2-3 times anyway , so why not dial in the ratio while you're at it? And you can't really declare your design is "high precision" and present yourself as someone others should take transmission design advice from if you aimed for a gear ratio of 8 and achieved "somewhere around 7.9 to 8.2"
Re: CARA – High precision robot dog using rope
#103Fascinating! I want to get into this type of stuff. But I have no idea where to start, I just have just a CS degree and 3 years experience as a developer.
Re: CARA – High precision robot dog using rope
#104Earlier quoted context omitted.
Why dread?
Land mines have been killing people by surprise for decades. Flying drones, some of them dropping land mines and others lying in wait for incoming convoys, produced 70% of the casualties on both sides in the Ukrainian invasion last year, and a few weeks ago the Ukrainians shipped some drones to near a Russian airport several thousand kilometers from Ukraine to blow up a bunch of airplanes. This betokens a future of b…
You're talking about a whole bunch of targeted and intentional attacks in a literal warzone, the most lawless kind of place on the planet and you're complaining that they are hitting their intended military targets?
Meanwhile Gaza is boring to you, because Israel uses conventional bombs with humans in the loop, even though the collateral damage matches your prediction today.
Re: CARA – High precision robot dog using rope
#105See also the youtube video about the project: https://youtu.be/8s9TjRz01fo
The linked page has that video embedded.
When I came across this amazing project and wanted to share it to HN, I was debating whether to post the youtube link or the project page. I decided to post the project page and mention the youtube link in the description for those who prefer video, but somehow that description got posted as a comment instead (not sure how that happened?). Anyway as you said the video is embedded in the project page so it wasn't really necessary
Re: CARA – High precision robot dog using rope
#106Earlier quoted context omitted.
> That's why pro crews don't use gears and ropes. [...] Instead what you see is the motors right on the joints. The answer here, as with so many things in robotics, is: It Depends. UR10e robot arm that can lift a 4kg object with a reach of 1m and has sub-1mm repeatability? Strain wave gears in the base and shoulder joints, 100:1 ratio. MIT Mini Cheetah robot dog that can do backflips? 6:1 planetary gearbox. Shadow Ha…
Surely you mean driven by closed-loop servos with encoders, don't you? Jacques Mattheij wrote a long post about how he ended up having to replace all the CNC machines he sold that used stepper motors because he didn't know any better at the time, and brushless motors are a lot faster and more powerful as well as not losing steps.
I think the X-Carve 3-axis wood carver uses stepper motors with belts of all things. The Shapeoko Pro is leadscrews and stepper motors. Wazers, I believe, are belt-and-servo driven. And a lot of 'CNC conversion kits' you can order online use stepper motors. Plus of course laser cutters have really low torque requirements, so they've got a lot of design freedom.
Arguably those are "cheap" rather than "mid price" it just felt weird to declare a $4000 machine to be "cheap"
Re: CARA – High precision robot dog using rope
#107I've watched and re-watched Aaed's videos on the capstan drive, it's great stuff. High speed, high torque, compliance, effectively no backlash. It's fascinating to watch a legit engineering mind at work.
He's easily one of my favorite content creators. Ofc, there are much better engineers, domain experts or more entertaining people on youtube, but he strikes a very enjoyable balance. I wanted to start writing a list of other tech related, pop-sci and industrial-design Youtubers I kinda enjoy, but noticed just how many channels I'm subscribed to... If there's any interest, I'll drop it, just tell me. Meanwhile I have…
Re: CARA – High precision robot dog using rope
#108Re: CARA – High precision robot dog using rope
#109Earlier quoted context omitted.
The point is that those decimal places don't have to be zeros. 7.893 is just as precise as 8.001.
Yet for some reason unknown to me, people get annoyed when you tell them „let us meet at 13:37. that is no more accurate than let us meet at 14:00 hours”
Re: CARA – High precision robot dog using rope
#110Earlier quoted context omitted.
Land mines have been killing people by surprise for decades. Flying drones, some of them dropping land mines and others lying in wait for incoming convoys, produced 70% of the casualties on both sides in the Ukrainian invasion last year, and a few weeks ago the Ukrainians shipped some drones to near a Russian airport several thousand kilometers from Ukraine to blow up a bunch of airplanes. This betokens a future of b…
> This betokens a future of borderless warfare in which probably most of your family members will be killed over the next few decades, by one or another type of semi-autonomous or fully autonomous weapon. You're talking about a whole bunch of targeted and intentional attacks in a literal warzone, the most lawless kind of place on the planet and you're complaining that they are hitting their intended military targets?…
I'm saying that the events we're seeing in the Ukrainian war are convincing evidence that the nature of war has changed, and the implications of that change for human society are disquieting.
For two million years, people have often resolved conflicts by warfare. But that warfare, though it has never ended completely, has always been localized, which meant that most places most of the time were peaceful.
This is the foundation of the system of international relations in which different states exercised monopolies of legitimate violence over geographical territories: by so doing, they could prevent warfare and provide security. This system has existed to one extent or another for thousands of years.
Warfare is no longer localized, so now the only place for anywhere to be peaceful will be for everywhere to be peaceful. It is no longer possible for states to provide security to the people within their borders. Consequently statehood itself has lost its meaning. The last time we saw such a change in the nature of warfare was twelve thousand years ago when the first states arose.
I have some corrections for you about other things that you did not understand either about my comment or about the wars we are commenting on.
It bears repeating that the planes blown up in Operation Spiderweb were not in a literal warzone, nor anywhere close to a literal warzone. Some of them were thousands of kilometers from the literal warzone, in a part of Russia that has China and Mongolia between it and Ukraine.
The Ukrainians reportedly did have humans in the loop for that attack in particular, and both the Ukrainians and the Russians are mostly using FPV drones rather than autonomous drones of any sort at this point, unless we count landmines as "autonomous drones". In https://www.youtube.com/watch?v=RmfNUM2CbbM Russian drone developer Sergey Tovkach specifically says that Starlink is the reason Ukrainian sea drones have established control of the Black Sea — Russia could build sea drones but does not have an equivalent to Starlink, so evidently both Ukraine and Russia are dependent on remote piloting for their sea drones. He also says Starlink's latency is too high for piloting quadcopters. (Evidently Operation Spiderweb used the Russian cellphone network.)
The Israeli attacks are also using precision-guided weaponry and (in some sense) AI, not conventional bombs, and they're killing lots of innocent people, but you're right that it's less worrisome to me, for three reasons:
- The total number of people they're killing is about an order of magnitude smaller, about 80,000 so far (out of a total of 2.1 million Gazans), versus roughly a million in the invasion of Ukraine. Many more civilians have been killed in Gaza, but both Russia and Ukraine practice conscription, so it's not as if the soldiers being killed are only or even mostly volunteers; they were civilians until being, in many cases, conscripted.
- The weapons Israel are using are mostly very expensive, which limits the number of people they can afford to kill with them. By contrast, the drones being mass-produced in both Ukraine and Russia cost only a few hundred dollars each, and each country is expected to produce about 3 million of them this year.
- The people Israel are killing are almost entirely in close geographical proximity to Israel. Gaza City is 80 km from Jerusalem. Beirut, the residence of many of the Hizbullah personnel that Israel killed with explosive charges in pagers (along with, in several cases, their children), is 230 km from Jerusalem.
Therefore, while Israel's war is clearly causing terrible suffering to millions of innocent people, and it could easily spiral into a Third World War, it does not represent the advent of a new, borderless mode of warfare in which the cost of untraceably killing a precision-targeted human anywhere in the world is similar to the cost of a small air conditioner or 20 kg of beef.
The developments we are seeing of the mode of war in the Ukrainian invasion do represent such a transition, and that is true regardless of how the conflict goes. But mostly it is not the Ukrainians and Russians who are responsible for the transition; it was an inevitable result of developments in batteries, motors, power electronics, and 3-D printing and (more broadly) digital fabrication.
What will the new equilibrium look like, now that statehood is effectively meaningless? Well, it might be better or it might be worse, but not many people currently alive will live long enough to find out.