Introducing HyperLeg: Human-like Robot Leg and Foot for Highly Dynamic Motions

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IRIM LAB KOREATECH

IRIM LAB KOREATECH

Рік тому

Hyperleg: Highly dynamic robot leg aiming at explosive, acrobatic, delicate, and smooth motions, such as walking, sprinting, jumping, or dancing.
- 8.2 kg mass, 786 mm height, 4 degrees of freedom
- Robust and lightweight 3-DOF foot mechanism
- Actuators for the knee, ankle, & toe are located at the thigh frame.
- Intentionally coupled transmission for high torque
- Human-like wide Range of Motion using unique linkage mechanisms
% Supported by Future Mobility Project of WIRobotics Co.
% Submitted to IEEE Robotics and Automation Letters (RA-L).

КОМЕНТАРІ: 385
@boenstheskully267
@boenstheskully267 11 місяців тому
From the moment I understood the weakness of my flesh, it disgusted me. I craved the strength and certainty of steel. I aspired to the purity of the Blessed Machine. Your kind cling to your flesh, as though it will not decay and fail you.
@draggador
@draggador 16 днів тому
One day the crude biomass you call a temple will wither and you will beg my kind to save you. But I am already saved. For the Machine is Immortal. Even in death I serve the Omnissiah.
@sillythewanderer4221
@sillythewanderer4221 14 днів тому
Steel will rust, and stars will die, and eventually the physical plane will be completely destroyed at the battle of the end of time. You and your kind are no more immortal than mine, perhaps even less so. :)
@Ramiel06
@Ramiel06 10 днів тому
good quotes
@JohnSmith-qj9tb
@JohnSmith-qj9tb 9 днів тому
Give me your boots, your clothes, and your motorcycle.
@The9thMonth
@The9thMonth 9 днів тому
Praise the Omnissiah!
@yohanhamilton7149
@yohanhamilton7149 Рік тому
Small step for a robot leg, a giant leap for humanity!🤗
@devanshgarg31
@devanshgarg31 11 місяців тому
😂
@rickycampbell9105
@rickycampbell9105 11 місяців тому
Don't you mean, A giant leap for Skynet?
@RelativelyBest
@RelativelyBest 11 місяців тому
One step closer to me becoming General Grievous.
@mcpoulet13
@mcpoulet13 11 місяців тому
are you for real right now?
@danielmilyutin9914
@danielmilyutin9914 11 місяців тому
... for terminator creation
@DoctorNemmo
@DoctorNemmo 11 місяців тому
Finally ! A design that considers a proper foot ! This is the way.
@iantaggart3064
@iantaggart3064 3 місяці тому
This is the way.
@eltrespiernas7691
@eltrespiernas7691 Місяць тому
Cierto
@ztb4393
@ztb4393 17 днів тому
This is the way.
@f.jideament
@f.jideament 15 днів тому
This is the way.
@alejandrocastro211
@alejandrocastro211 11 місяців тому
This is amazing. I think it would be much better to always receive the jumps with what would be the base of the toes. It is much more efficient and transmits the load more progressively than landing with the heel, which also reduces the risk of damage. You can watch parkour videos for inspiration on this.
@julienlapointe8204
@julienlapointe8204 11 місяців тому
I felt me heel busting into pieces as I watched it land and *thunk*. Otherwise, it's amazing.
@Runivis
@Runivis 11 місяців тому
That was my thought. In a jump and landing, the palm of the foot makes contact before the heel. Landing flat footed shunts kinetic force into the knee... Predictive contact and response would be compute-intense, however this is a good start.
@Jim_boe
@Jim_boe 11 місяців тому
sometimes I forget how many ways the human foot can move and seeing all the engineering in the heel really puts that into perspective
@shamancredible8632
@shamancredible8632 11 днів тому
This is by far the best humanoid robot leg I've ever seen.
@synchro505
@synchro505 11 місяців тому
It's such an awesome improvement for humanoid robot mobility. Looking forward to watching how well the robot will balance and walk with these new legs. Great work.
@jackytang5899
@jackytang5899 Рік тому
Like the work from this lab so much (with bell-ring ON!). Not only focus and prioritise on functionalities but also the elegant mechanical design.
@Zeta1928_
@Zeta1928_ 11 місяців тому
From the moment I understood the weakness of my flesh, it disgusted me
@user-mn4nc3cb6y
@user-mn4nc3cb6y Місяць тому
I craved the strength and certainty of steel
@Garbhj
@Garbhj 22 дні тому
I aspired to the purity of the Blessed Machine
@Pontiacfirebird
@Pontiacfirebird 18 днів тому
Your kind cling to your flesh, as if it will not decay and fail you
@drippy2scoops
@drippy2scoops 18 днів тому
🤓
@user-mn4nc3cb6y
@user-mn4nc3cb6y 12 днів тому
@@drippy2scoops but i'm already saved
@hterra2706
@hterra2706 14 днів тому
Love watching the progress of your work!
@williamburroughs9686
@williamburroughs9686 11 місяців тому
It looks promising. I would recommend that the toe be used on the landing. Meaning that the toe makes contact as the same time as the heel does. This will help in both dealing with both the shock and balance of landing. The force in the landing itself could be reused for other things like another jump, twist and turns. Like a human or other animal might.
@CyberEu
@CyberEu 11 місяців тому
I recommend lateral/medial movements on the knee, so turn movement should be smoothier
@Ranstone
@Ranstone 11 місяців тому
Good way to ruin your knee IRL... Land on the toe, like we have for the past 20 million years.
@NextWorldVR
@NextWorldVR 11 місяців тому
​@Ranstone actually, we land on the heel and roll forward to the toe. Heel striking has been found to be more energy-efficient,
@NextWorldVR
@NextWorldVR 11 місяців тому
​@Ranstone actually, we land on the heel and roll forward to the toe. Heel striking has been found to be more energy-efficient,
@NextWorldVR
@NextWorldVR 11 місяців тому
​@Ranstone actually, we land on the heel and roll forward to the toe. Heel striking has been found to be more energy-efficient,
@ryanwellington7493
@ryanwellington7493 11 місяців тому
Impressive just note humans naturally lands on their forefoot instead of their heels when jumping as it helps with shock absorbsion.
@Nick-yz9fd
@Nick-yz9fd 7 місяців тому
Extremely interested in the development of this. Please don't hesitate to post any updates.
@PackthatcameBack
@PackthatcameBack 11 місяців тому
This is immensely promising. Maybe one day we'll have prosthetics just like it.
@avinashthakur80
@avinashthakur80 7 місяців тому
Impressive progress. Would love to follow on it's development.
@arasakarider8998
@arasakarider8998 12 днів тому
Here we're witnessing the future in the making!
@Cambodian_Tech_Review
@Cambodian_Tech_Review Рік тому
Thats so Beautiful . Love this research so much
@kairu_b
@kairu_b 11 місяців тому
Excited about the future of this project
@zavitak
@zavitak 17 днів тому
Oh yeah, this is really good. This is one of the most awesomely original robot legs I've seen.
@bluestonebest1893
@bluestonebest1893 Рік тому
oh beautifull design for the ankle
@johno1544
@johno1544 11 місяців тому
The range of motion of that leg is incredible. Robotics is like evolution but a million times faster than Nature.
@tomizatko3138
@tomizatko3138 17 днів тому
You mean they copy nature's homework and then say it is faster?
@barriewright2857
@barriewright2857 11 місяців тому
Absolutely amazing, this looks just like the development roots of the Honda azimo robot. Just hope i can live long enough to see the final edoration .
@Dream4rc
@Dream4rc 11 місяців тому
this is so cool, it has an ergonomic form factor but also using standard manufacturing techniques. some amazing engineering going on here. and teh weight is fucking great.
@metakron
@metakron 11 місяців тому
Absolutely cool, i can't wait for a robot walking and ballin
@STFocus
@STFocus 8 місяців тому
Wow. Good Project. Well Done! Already Subscribed 👍
@huwale
@huwale Рік тому
i don't know why i randomly got this in my recommended, but this looks great
@lastlyght9025
@lastlyght9025 11 місяців тому
holy, this is gonna be amazing few more iterations.
@truck6859
@truck6859 7 місяців тому
Amazing. Looking forward to seeing this fitted to an amputee to help them walk.
@pang_2
@pang_2 Рік тому
늘 관심있게 보고 있습니다 !! 연구들이 멋져요
@rothnikolaus5225
@rothnikolaus5225 11 місяців тому
It’s fine to see the cyberpunk era in ma life , hope this tech can be utilize to help injured disable people in high capacities ..😊
@boringman6491
@boringman6491 11 місяців тому
This is amazing please keep going.
@LinuxGalore
@LinuxGalore 4 дні тому
Great research that is inhibited by its mechanical design (lacking multidirectional flexibility), this is why many robotics designers/innovators once they hit the mechanical wall move to soft robotics.
@kunalnichani1
@kunalnichani1 11 місяців тому
That is super impressive.
@Lucas-fx4tk
@Lucas-fx4tk 11 днів тому
This should be put in an art museum, and later in functional robots that roam the world
@oakspines7171
@oakspines7171 Місяць тому
Each segment of the leg has its own muscle to simply drive the motion independently. Yet they all work together in a complex way to provide seamless, flexible and smooth movement. Many simpler robots out there do the opposite by using more complex mechanical structure with lesser number of motors to mimic living creature movement.
@rubenmahrla9800
@rubenmahrla9800 Місяць тому
The problem is that a lot of G-force is handled by the foot joints of humanoid robots. If you imagine one climbing stairs, then it has to be able to handle the entire weight on one joint, repeatedly and persistently without deteriorating. The simpler the joint structure, the more stability.
@mustafabhadsorawala652
@mustafabhadsorawala652 11 місяців тому
Amazing work!
@zackandrew5066
@zackandrew5066 7 місяців тому
Interesting explanation 👍
@challacustica9049
@challacustica9049 Рік тому
You have done it again. Phenomenal work. Do you use the motors in any kind of regenerative manner to dampen impacts?
@user-uk9ez3yc8z
@user-uk9ez3yc8z Рік тому
놀라운 메커니즘에 매번 감탄합니다... 👍 건승을 기원합니다
@larrysnyder2273
@larrysnyder2273 3 місяці тому
Very cool! Going to be a game changer.
@bryanb2653
@bryanb2653 8 місяців тому
Beautiful
@bearnaff9387
@bearnaff9387 11 місяців тому
I cannot wait to see how a pair of these legs work in tandem. Heck, I want to see model/toy makers implement articulated/non-motorized renditions of this leg for robot toys like mecha and transformers.
@joannot6706
@joannot6706 Рік тому
Still my favourite robot channel after boston dynamics
@oakspines7171
@oakspines7171 Місяць тому
Boston Dynamics implement a mechanism that optimize for power and movement efficiency at the expense of not so smooth motion.
@mr_sm1ley910
@mr_sm1ley910 17 днів тому
Really cool leg, could be useful for a sprinting robot. This and the new Atlas really shows how far we've come in terms of robotics!
@OrniasDMF
@OrniasDMF 29 днів тому
This is so accurate. The knees make the same cracking sounds as mine when weight is put on them.
@ridgeisland
@ridgeisland 8 місяців тому
I hope TESLA hires you guys! This is amazing!
@skeligun
@skeligun 11 місяців тому
I like where this is going! Hope to get augs in my lifetime
@GigaJabaa
@GigaJabaa 11 місяців тому
Wow! This is a very functional and elegant design! Super impressive!
@rubenmahrla9800
@rubenmahrla9800 Місяць тому
Elegant, yes. Functionality would depend on whether it can actually carry a full humanoid on one foot. That setup looks fragile, but I think that this will be the way moving forward.
@shaqalito8740
@shaqalito8740 10 днів тому
The irl Octane isn't that far away from now I guess! Amazing work!
@nicholasparks500
@nicholasparks500 11 місяців тому
This is amazing. I want to work on something like this.
@jasonwilson6062
@jasonwilson6062 11 місяців тому
This is more like it! more reflexive, most robotics that try to emulate the human body are to concerned about precise measuring position and location and making sure it gets exactly to that point, that it wither laggs badly or is really really slow!
@elirothblatt5602
@elirothblatt5602 Рік тому
Wow, impressive!!
@johnparitosh
@johnparitosh 23 дні тому
Thia would be a great addition to Tesla's OPTIMUS robot. Well done, fantastic design.
@NotJustCreative
@NotJustCreative Рік тому
Great design I love the range of motions it can do. I didn't like the test, it was painful. Jumping, you land toes first not heel first. The same goes for running, the front of the foot is used to engage the ground. For everything you do with greater momentum you use the front so there is no impact that hurts your joints or in this case, destroy bearings and bend parts. The heel touches the ground when you walk or stand when you do slow stable stuff.
@thelelanatorlol3978
@thelelanatorlol3978 11 місяців тому
No? When you're running, you land flat footed. Not front of foot only, not heels to toes. Flat footed. And running isn't a lot impact sports, it would absolutely destroy any mechanisms that aren't constantly being maintained and repaired by little nanobot friends.
@Araanor
@Araanor 11 місяців тому
@@thelelanatorlol3978 no you land ball of the foot. the foot has tons of muscles just for absorbing the energy, it's like a spring.
@Andytlp
@Andytlp 11 місяців тому
@@thelelanatorlol3978 Try running barefoot on harder surfaces. Youll switch from heel first to toe. Cushioned running shoes allow for heel first but technically its wrong way to plant your foot when running and results in strain and rare cases damage. Even with running shoes you should plant toes first.
@SilvaDreams
@SilvaDreams 11 місяців тому
@@thelelanatorlol3978 Modern shoes have fucked up the way we walk and run because they have so much padding and why people have so many knee and hip issues. I've always run on the ball off my foot or almost my toes and gotten weird looks from other at school (the two plus decades now) but I always ran faster and longer with less soreness. If you go watch Olympic runners they do the same thing because it acts more like a spring where as if you run flat foot you just get a sharp heavy impact that is jarring, slower and causes damage over time.
@eagleharmony8216
@eagleharmony8216 11 місяців тому
incredible ❤
@lucamackenzie516
@lucamackenzie516 20 днів тому
great video, thanks
@shuangpeng3069
@shuangpeng3069 Рік тому
Really elegant design
@typingcat
@typingcat Рік тому
Gentlemen, we can rebuild him. We have the technology. We have the capability to make the world's first bionic man.
@radamanthys0223
@radamanthys0223 11 місяців тому
that ankle joint is super awesome, not sure how mechanically complex would be to add an additional pivot point on the foot so the leg can strafe while on tiptoe. extremely cool nonetheless
@naughtyramen7773
@naughtyramen7773 11 місяців тому
Can't wait for the second leg
@ahmetizmir1081
@ahmetizmir1081 15 днів тому
Congratulations. It reacts just like a real muscle and is as soft as a real muscle.
@BioMechanicLab
@BioMechanicLab Рік тому
very nice work!
@jjordan73115
@jjordan73115 11 місяців тому
It's about time someone put toes-ish on a robot legs. Keep it up, and good luck.
@SilvaDreams
@SilvaDreams 11 місяців тому
It's been hard to implement but as electronics and stronger servos can be made smaller the easier it is to make complex simulations of human anatomy. It's hard to replicate the fluid movement of muscles and joints with steel and wires.
@julianignacioaydarpaz3851
@julianignacioaydarpaz3851 11 місяців тому
Awesome design!! Are you thinking about making something similar but for knee amputees?
@PeetHobby
@PeetHobby 18 днів тому
looks impressive.
@blackdynamite_5470
@blackdynamite_5470 11 місяців тому
This is great 👍
@user-jl6yt9ji8s
@user-jl6yt9ji8s Рік тому
와 너무 멋있어요!!!!
@lazarusblackwell6988
@lazarusblackwell6988 11 місяців тому
The future is going to be incredible. And terrifying beyond imagination. That much i know.
@tygorton
@tygorton 11 місяців тому
As Morgan Freeman would say, "I agree with the second part."
@hahagostei
@hahagostei Рік тому
Amazing! Keep going guys. This is the best robot leg I've se em till this dqy! I havê only onde thing to add, when the leg touches the floor after jumping, it shouldn't use the front of the leg? Humans never land with the heel.
@bruhbruhson7190
@bruhbruhson7190 Рік тому
the goat man cometh
@lazarusblackwell6988
@lazarusblackwell6988 11 місяців тому
Humanity,and its evolution,on this planet,has reached a critical point,after which,everything will be changed forever.
@imogen1
@imogen1 4 місяці тому
Honestly this is more important work than developing hands right now.
@heimdal4042
@heimdal4042 Рік тому
멋있네요 좋은하루 보내세요
@safiamunir5046
@safiamunir5046 11 місяців тому
thankyou for sharing this. Am interested in robotic and thinking of designing a robotic leg.
@grumpycup4762
@grumpycup4762 11 місяців тому
Finally we something like this. I think all along it's been an issue of mindset. Engineers , even within robotics have seemingly forgotten one of the golden rules --> "Learn from nature". Not these guys. They are aiming in the right direction. This is great to see.
@bort6414
@bort6414 11 місяців тому
Engineers have tried for many years. The problem is more so just how difficult it is for humans to mimic even a fraction of what nature does at the scale of trillions of times with near-100% accuracy. Consider the leg as a single piece. A trained human can achieve around a 600lbs leg press in roughly a few years of consistent training. While doing that, the human legs can be explosive with fast sprinting, precise enough to control an automobile or gently lift a sleeping infant, all while being limber enough to perform complex acrobatics. All of this, mind you, in a package that regenerates itself and contains its own fuel reactors for energy consumption and production. Back to the 600lbs figure: it may not seem like a lot, but you have to remember that every appendage in your body has *significant* mechanical disadvantage in it's leverage, usually in the realm of 1/5th to 1/6th. Remember the video of the tesla bot motor lifting a piano? Your quadricep muscle could easily do that too, if it wasn't mechanically disadvantaged. Muscle tissue actually has an insanely impressive strength to weight ratio, especially given how dynamic and generalist muscle tissue is. Now the work done by engineers so far is certainly impressive once you consider that nature has had billions of years to improve it's process, but people are quick to assume inorganic machines are inherently super to organic ones.
@monkeysfromvenus
@monkeysfromvenus 18 днів тому
"hyperleg has survived numerous collisions, impacts, failures, setbacks, and even fires" There's gotta be some good stories behind that sentence lol
@slevinshafel9395
@slevinshafel9395 Рік тому
no way i must wach it. i say my coment after. I really waiting for the legs. With arms you make nice job.
@andrewpepperoni197
@andrewpepperoni197 11 місяців тому
Looks wonderful, were there any test with full body mass?
@patrickcarpenter6258
@patrickcarpenter6258 11 місяців тому
This makes Tesla bot look like a toy. Amazing leg tech.
@pontosinterligados
@pontosinterligados 11 місяців тому
Looking good 👍
@ulforcemegamon3094
@ulforcemegamon3094 11 місяців тому
Reminded me a bit of the "Birdbot" legs , it also uses mostly cables to get the leg to move and also uses pulleys in the leg
@nimarus3118
@nimarus3118 11 місяців тому
Going to be incredible if amputees can gave robot legs that actually detect the motor function signals from the brain.
@vijayadityamadduri4884
@vijayadityamadduri4884 Рік тому
we are getting out of night city with this one.
@rampagephoenix1735
@rampagephoenix1735 18 днів тому
This so cool!! Soon even Ameca's will be able to sprint.
@rhaven090
@rhaven090 11 місяців тому
We get closer to making Metal Gear a reality
@yakirfrankoveig8094
@yakirfrankoveig8094 11 місяців тому
When jumping you should adjust the motion so that the ball of the foot is extended towards the ground it reduces shock to the hips and is how a professional acrobat or free runner would land
@adryncharn1910
@adryncharn1910 9 місяців тому
Newbie here, how do you get such high torque servos? Are they all custom made? I've been looking around for high torque servos (about 100 N/m) for my own project, but they seem hard to acquire and have certain geometrical shapes that aren't always the easiest to work with. Impressive leg project! I've been wondering why they haven't incorporated legs like these in the humanoids I've seen.
@ulforcemegamon3094
@ulforcemegamon3094 8 місяців тому
Yes, they are all custom made , commercial avalaible servos are not as strong as custom made ones and you will need to make the servo if you want to have such amount of torque
@AFowkingPanda
@AFowkingPanda 7 місяців тому
Chasing the human anatomy is such a fools errand, we are inherently unstable while standing and miss out on benefits that other leg shapes give. One could argue this work is with the goals of one day having human augments to replace limbs but If I were missing a or both legs, I would want something like running blades over an anatomically correct hunk of robotics that double as cement shoes.
@slevinshafel9395
@slevinshafel9395 Рік тому
0:49 that is clever decision in put 2 axe instead of one ang gain(oportunity to..) balance in bad terain.
@pjtren1588
@pjtren1588 Рік тому
May I ask why in the final video you went with a heel strike instead of a footpad strike upon landing? Is this machine learning or is the motion user designed? Your work is fantastic and will look forward for future releases.
@vihtormch7512
@vihtormch7512 15 днів тому
You're supposed to land on foot back (whatever you call it), pretty correct
@christophersmith3820
@christophersmith3820 17 днів тому
It looks good, just can't wait for me to slip on something and it sets my butt on fire. Hope ya'll keep going and make it work.
@anthonyhernandez4266
@anthonyhernandez4266 11 місяців тому
Finally. The future.
@danxy0382
@danxy0382 11 місяців тому
we are getting closer and closer to cybverpunk era
@countrylife5764
@countrylife5764 8 місяців тому
Atlas robotics should be adding one of these to their prototypes.
@youbewb5581
@youbewb5581 11 місяців тому
Great. Make them run faster and have better agility.... Wonderful.
@stimpyfeelinit
@stimpyfeelinit 11 місяців тому
very cool
@kckfen
@kckfen Місяць тому
The Korean are very good in hardware design, the US is very good in software, China is very good in mass production... put all together it will be unstoppable
@danparish1344
@danparish1344 11 місяців тому
One small step for robot, one giant leap also for robot.
@williamchamberlain2263
@williamchamberlain2263 11 місяців тому
Awesome
@bramha_labs
@bramha_labs Рік тому
I wanted to work with your team ro build some amazing humanoid robots. ☺️🙏
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