TESLABOT REVEALED! 🤯 Scott Walter on the MECHANICS of Tesla's Optimus!! AI Day 2022

WOW! Optimus, Tesla's humanoid robot, is here, in the flesh! As we saw during AI Day 2022, Teslabot (or Optimus) is already a walking, useful bot, and a lot of that comes down to the amazing hardware choices that Tesla has made in their design of the first two prototypes!
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[@universeisundernoobligatio3283]

Retired electronic engineer, wish I was 20 years younger, would try to get a job at Tesla. Where they let engineers do engineering, unlike where I worked it was far more important that my lab bench garbage can was kept inside the yellow lines on the floor. Solved that problem by attaching a pice a plastic to the bottom of the garbage can with yellow lines on it, therefore the can was always within its yellow lines.

[@Dave-ei7kk]

That is definitely an engineering solution. Love it.

[@dewittbo]

Creativity at work.. 🙂.

[@world-karma9127]

Elon would laugh at this too, I bet 🤣

[@richardrigling4906]

Oh I agree! The misadventures by Boeing began 15 years ago when the MBA’s moved HQ from Seattle to Chicago. Now they’re moving to northern Virginia to be closer to Mother Fed

[@neeljavia2965]

@@richardrigling4906 Didn't that happen after the management from another bankrupt Canadian aeroplane manufacturing company entered Boeing? I forgot that company's name.

[@DavyJonesSimRacing]

I was awake during the night here in Finland and was watching the stream, it was cool and I was looking for you John in the crowd ;)

[@jackgoldstein9297]

I am an Orthopaedic Surgeon with an Engineering background. The human knee is a true 4 bar linkage created by the proximal and distal ends if the Anterior cruciate and Posterior cruciate ligaments. They have recreated a similar mechanism but the extensor mechanism has a dual role which lowers energy consumption. This is unlike us because the cruciate ligaments in us only create stability and guide knee kinematics but do not carry our body weight as seen in Optimus. Great talk. Thanks

[@cbongiova]

This was Tesla Bot version 1... T-1 for short hand. Only 799 more versions until we get Arnold.

[@kfk256]

Optimus has a Texas belt buckle! Now that's awesome! 🇨🇱

[@universeisundernoobligatio3283]

Retired electronic engineer, wish I was 20 years younger, would try to get a job at Tesla. Looking forward to get one of these for my home, as I get older it could help me stay independent longer. Also once FSD is perfected for my Model Y it will also help me stay independent longer.

[@albeit1]

Someone said they built something better than Optimus in college. But this is not programmed to some predefined tasks. It’s learning how to maneuver.

[@SirHargreeves]

In 6 months? That can pick up watering cans and water, or move boxes and parts? Doubt it kid.

[@jimj2683]

@@SirHargreeves Shut up, kid.

[@wizzyno1566]

That someone is a liar.

[@capslock9031]

Thanks! Mr. Walter and Mr. Douma are my translators for everything that's too advanced at Tesla, for me as a layperson to comprehend and grasp the implications of what is presented. I really appreciate you being so quick with getting Mr. Walter on!

[@Instant_Nerf]

You can’t think of any implications for you’re self? You need someone to hold you’re hand? God help us.

[@capslock9031]

@@Instant_Nerf How to be a douche in the comment section...

[@michelangelobuonarroti916]

@@Instant_Nerf You can't spell simple words? God help us.

[@Instant_Nerf]

@@michelangelobuonarroti916 that’s because I speak 3 languages. Lmao

[@Radiojeepo]

@@Instant_Nerf who?

[@jimcallahan448]

Once Teslabot is in the wild, I can't wait for the Sandy Monro teardown!

[@juggy666]

Or the Sandy bot!

[@toddai2721]

Sandy is cars... he knows nothing about robots.

[@Jimmy_Jones]

@@toddai2721 He's products in general. He tried doing a fridge video but it didn't perform well. So they went back to only showing cars. He's mentioned many times about planes and he did one on a medical device.

[@Martin-se3ij]

Sandy is in fact a bot and Munro's last video will be him tearing himself down.

[@paullawrie]

@@toddai2721 so wrong.

[@ottebya]

such a cool point at the end about how Tesla already has the chips for the bot at scale production from the cars, its pretty insane how they pivot from project to project with a pre-integration or pre-synchronization of components/technology from other projects and they are in, what would seem to be, completely different fields

[@neeljavia2965]

Just like Tesla and Spacex uses each other's strengths.

[@sandybayes]

AI Day was a celebration of the engineers! So happy to see how being polished was not the emphasis. It was all about what this team of engineers can accomplish in a short amount of time.. Our future is bright so long as Tesla stays on their current track. No other company has such a straightforward approach. No smoke and mirrors here. I am so happy and proud that I own stock in Tesla!

[@dr-k1667]

Here Here!

[@jimmaag4274]

I was blown away, they have designed actuators that work with existing battery technology, no one else is even close to that.

[@davidkendall2272]

Super impressed with discussion and Scot running his home off solar + Powerwalls with power out after hurricane impacts.

[@ramakrishna5480]

Thank God , I was waiting for your reaction

[@dr-k1667]

Thanks so much you two! This is the precursor to the Dave Lee James Douma series covering FSD that is also going to be a must watch!! I'm sure I'm not the only one who learned a lot from your talks before A. I. Day that helped us to not get lost!!

[@jamesowens7176]

4th derivative of motion is jounce (or sometimes called snap).

[@JeffBrown9]

If the battery is in the chest, then it will have a high center of gravity. This could be problematic when it needs to bend over to pick something up and the weight of the battery is hanging on the robot.

[@dheemanrajkhowa2866]

Its got a thick booty to offset it.

[@MarcoNierop]

That is probably the reason for that heavy actuator in his butt. But where else would you place the battery? I think the torso is the only sensible place for the battery.

[@catbert7]

I guess they decided that putting the batteries in 2 balance-ball-sacks would be too much for the public.

[@TheKaarnageShow]

Needs bend with its knees…

[@m_sedziwoj]

3:20 respect to that he admitted his mistake, I meet only few professor which do it, and I hold them in high respect. Because it is human to make mistakes.

[@OnigoroshiZero]

From a lot of commends I have seen about this (mostly in Steven's channel where he roasts them), 99.9% of what Tesla showed and explained here passed many light years away from all these poor (in brain cells) people's heads. I was watching this live at 4am here in Greece, and when it ended (around 7:20am) I was so excited that I just couldn't sleep for the next hour. With the rate Tesla works, I think that they will start selling these before 2025 ends. Now, I just wonder when will I be able to get one to have at home.

[@jefreestyles]

Wow they actually lit the T in the chest of the Teslabot like Ironman \o/

[@dewittbo]

I am impressed with how excited Scott can get over a simple actuator....

[@Illiryel]

Thank you both for this amazing video! It is sincerely nice to see people who understand hardware and know it from the inside =)

[@robinsss]

what video? there is video of the robot moving it wasn't shown here

[@formytots0128]

Many, many thanks for this very informative video. Learned so much from your analysis of the Teslabot hardware. Looking forward to your future videos of Teslabot. :)

[@asobanna1266]

You two R just killing it- thanks

[@miketran8987]

I don’t think people realized that Bumble Cee was not programmed by human to walk but learn to walk by AI reinforcement learning. It is also highly possible that the act of watering the plant and grabbing items and carrying boxes is also “emerged” by AI Learning.

[@davidhawkins7138]

Great video - Thank you both!

[@mattsenkow6986]

The fourth derivative is called jounce or snap.

[@robertjulesyoung9994]

I did not expect it to walk, that was awesome. so much improvement in such a short time. and, it's also interesting to see that Tesla is not just good at AI and software, they are good at hardware too. one more thing, almost all of those engineers, are immigrants! Tesla is very good finding the best in the world. We really need to do better with our immigration policy.

[@neeljavia2965]

Yeah. Your entire country is built on best talents from across the world using the highly innovative environment available to contribute their best.

[@johnnywalsh2081]

This is amazing

[@beck99o]

Love you guys talking about bot! Thanks.

[@mattanimation]

Ben Katz (MIT Cheetah) is working on a fast moving linear actuator that looks pretty interesting for applications like this.

[@bleach9tail]

Took y'all long enough lol love the breakdown

[@joevidrine]

You guys are excellent. Thanks much for sharing your gifts.

[@Flatballflyer]

I look forward to seeing Tesla bot's assembling Tesla bots - how long does it take to scale out production with that approach?

[@rogersmith573]

it would likely be slower for a long time :)

[@Martin-se3ij]

Wonder if they just make the torso and arms and the bot then finishes itself off?

[@artbyrobot1]

@@Martin-se3ij that's what I wanted to do with my own humanoid robot build actually. It would be epic to just build the arms and it builds its own legs etc!

[@jonathandasilva6000]

Tesla should hire Scott as a consultant. Always fun listening to you guys.

[@omm5960]

Consider using the standard terms when reporting your observations and inferences about the range of motion of joints, i.e., flexion, extension, abduction, adduction, internal rotation and external rotation. All those ROM characteristics are measured in degrees.

[@iandavies4853]

Scott Walker is amazing.

[@MasterFX2000]

The 4. derivative of position is "jounce"

[@toohardtowatch]

Ah yes. I remembered 'snap, crackle, pop' for the almost-always-irrelevant 5th, 6th, & 7th, but forgot what was in between.

[@TisforTech]

5:40 you can literally see one of the cameras mounted on the side... Not sure why there was confusion later on when talking about the full head / camera etc. Also interesting to note that it looks like on the back of the neck is an emergency stop button.

[@Dave-ei7kk]

I’ve been to Muir Woods and Big Basin (near San Jose) and I recommend Big Basin if you have a choice. But you’ll enjoy Muir Woods too if you’ve never seen giant redwoods.

[@t.r.766]

Get your parking reservations

[@bradtownsend1457]

It's truly amazing to see the beginning of a truly helping of mankind.

[@cellics]

Wow, the engineering considerations that went into the prototype were tremendous!! Laymen like me were fooled by the looks and wobbly movements :)

[@devalapar7878]

Take a look at atlas from boston dynamics. That is a robot!

[@hrhamada1982]

another thing to imagine, is that when there is a task or application where there is only need for the torso and above, they can reduce cost of deployment, and cost of batteries by replacing "hips down" with a stationary platform and permanent power connection.

[@catbert7]

Good point.

[@cybergigafactory]

In the presentation the biggest thing I saw was, the lower body and how it can bend and turn. This was mind boggling. 🤯

[@devalapar7878]

No idea how they get excited about this when boston dynamics has robots that are fast, make flips, dance and practically move just like humans.

[@jimcallahan448]

What do you think the part count will be? Both total part count and unique part count? Imagine Optimus came as an Ikea kit, once you have the kit of parts, what tools would it take to assemble, test and calibrate?

[@hrhamada1982]

LOL or Lego

[@albeit1]

Muir Woods is nice. Parking might be an issue. If you get down to the Monterey area, you might love Point Lobos state park. It’s on the way to Big Sur.

[@rackoone]

Some thing I was wondering, what are the pros and cons of having toes? We use toes a lot to balance but a lot of robots have to squat a little because there feet are solid. I think a robot that could fully stand would be cool. (They have to squat so they will still have range of motion to balance back and forth)

[@grantguy8933]

Why they need to be human two legs form? Why not three or four legs dog first?

[@kennyfordham6208]

@@grantguy8933 You're right. More legs would be better, but they're obsessed with making it in human form, as well as cheaply as possible. 🤨

[@imconsequetau5275]

The East Indian/Indonesian posture is to squat flat-footed on the ground. No squatting on the balls of the feet, using toes.

[@neeljavia2965]

@@kennyfordham6208 Maybe because everything around is designed for living beings with two legs.

[@freakinccdevilleiv380]

Good torque on the ankles is important for this but always overlooked. I've also read some guys saying straight legs present a form of singularity on the algorithms, but I don't buy it, there are a couple robots out there that manage just fine.

[@FnordFandango]

Very informative - these breakdowns are getting more and more informative, thank you

[@samsalin]

I love how Elon is talking about how the robot is too weak to attack humans but those hands can still hold a Glock

[@D_Rogers]

Ideal for home defence! My friend has a drone with a pistol mounted, I wonder if he'll trade it in for a packin' Teslabot? :)

[@samsalin]

@@D_Rogers if he doesn't add a security function where the eyes turn red I will be severely disappointed

[@glennedwardpace3784]

The 4th, 5th, and 6th derivatives are called snap, crackle, and pop respectively

[@NickYoung_Original]

Derivative of a jerk is a snap, then crackle and pop! Reference from TED talk on smooth flight in drones.

[@peterricker4177]

Awesome analysis. Looking forward to the next vid

[@fiddlerJohn]

Fourth derivative is Snap, or jounce. The fourth derivative of the position vector with respect to time, or the rate of change of the jerk with respect to time.

[@explor794]

How long before household items stipulate Tesla bot compatible as a selling feature.

[@AlphaCrucis]

"We could spend half an hour on each slide!" Please do! I was really getting into this. Man, I realized how little I know about the mechanical side of things especially. What are some good books or other resources on these topics?

[@FlorestanTrement]

You were right, and James Douma was wrong! It was the actual bot's hand!

[@TeslaBulldotcom]

Heads also a big weight that needs energy to counterbalance, humans use lots of energy and muscles keeping their heavy heads on😮😊

[@goingballisticmotion5455]

Good point. Extra servos is Extra mass away from CG.

[@MarcoNierop]

Mr Walter pointed out several times the head is fixed and has no hinges like we have in our necks. So it will not be used to keep the robot balanced and of course will not need energy. Also the neck and spine is just one stiff bar where everthing else is mounted on.

[@TeslaBulldotcom]

@@MarcoNierop yes I was agreeing that bot doesn’t need a big heavy head👍 like us humans

[@ddmitch1]

I'm wondering where the best AI schools are and where Scott learned AI?

[@ericswenson7468]

Optimus VS Atlas. Looks like for now Atlas would win a 0 to 60 race and probably climb and lift better, but what about RANGE? Optimus is designed to last a day and Atlas goes for an hour. Start them walking. Which gets better range between refills?

[@jambay4785]

I think they showed a "worm gear" for fingers, not tendon type actuators for all joints. 2.3KW battery will charge fast and is expected to last around 8hours (active?).

[@MarcoNierop]

Yes, it has a worm gear, but that worm gear drives a cilinder that winds/unwinds the tendon. Simple torsion springs in the finger hinges stretch the fingers when the tendon unwinds. Just pauze the video at the close up of the hand where it shows the actuators, to have a better look.

[@jambay4785]

@@MarcoNierop Thanks, was being too literal in my understanding about the joint mechanism. I'm not a mechanical engineer, but pretty good at software (hand code HTML web pages just for fun).

[@timsteinkamp2245]

I'm not doing two way communication but my quality on home T-Mobile is pretty good. I'm amazed how bad connections are on supposed wired lines from different content creators.

[@FailTrainS]

The derivative after jerk is snap, followed by crackle and pop. I am required by physics law at this point to let you know that I am not, in fact, joking.

[@juggy666]

Thank you Scott!

[@Screenprinter66]

I want videos of stages of the bot doing robot tai chi.

[@Joe44944]

Great video, thanks as always 👍

[@jakobhuss]

From Wikipedia "The fourth derivative is often referred to as snap or jounce." en.wikipedia.org/wiki/Fourth,_fifth,_and_sixth_derivatives_of_position

[@privateerburrows]

10:05 Full head vs front only: I think what we are seeing is Optimus without the outer covering. I'm sure the body will look kind of like the original concept, but these prototypes don't have skin or coverings because they would stand in the way of development and testing.

[@little-messi]

Thanks！

[@MrDuncanBooth]

Thanks John Thanks Scott

[@VictorGallagherCarvings]

Fourth, fifth, and sixth derivatives of position are snap, crackle and pop.

[@errolplata45]

Finally some logical analysis!

[@OrgChromer]

Seeing lots of parts that could be cast. Good implications for mass production once the design gets nailed-down.

[@Supraboyes]

because casting was only invented by tesla

[@asjeot]

Because they are trying to reduce parts count and cost for mass production...

[@ericchild3363]

Excellent, thank you

[@benjiebarker]

wow it was like watching the first part of the movie chappie

[@synchmanpe]

Snap, crackle and pop are the 4th -6th derivatives of position. en.wikipedia.org/wiki/Fourth,_fifth,_and_sixth_derivatives_of_position

[@JoelSapp]

Classic - drying clothes while in a power outage.

[@michaelblue7852]

Do they really have a person picking those bars up and putting in the red box? I thought simple things like that would be done by some automated proces.

[@jackdbur]

The person also acts as QC and probably manages the machine. Drill holes in aluminium must be clean or you are liable to get stress cracking.

[@fullerexplanations7872]

@13:30 the photo reminds me of the soldiers erecting the American flag at Iwo Jima

[@D_Rogers]

The tesla bot in the factory stacking steel, can't put its fingers under the steel for a more sure grip, because when it places them down, it would need to drag those fingers back out from under the steel before placing it... Faster to grasp it from the sides and not clutter the underside, the steel is sitting on the underside at the origin and destination..

[@blengi]

should put micro wheels into the hands/palms and feet/soles, so bot can subtly slide adjust footing and handling characteristics in a way no human or current bot can. Could then rebalance somewhat without even lifting feet if needed....

[@fredbloggs5902]

What we have seems to work ok

[@_mysilentblue2227]

Great content on this video and I'm really wanting to see the video on the software side.

[@Cybertruck1000]

Don't suppose Elon will let us have the 3d print files for this...?

[@TomSmash1990]

I frickin love that shirt!

[@CovocNexus]

I've noticed that a lot of professors have a bad habit of not letting people speak. Probably a habit of talking to students all day.

[@antonpershin998]

Fourth derivative of position called snap

[@Kanglese]

The derivative of Jerk is called Snap.

[@johnnicol8598]

Snap crackle and pop. The next derivatives of motion.

[@ivankuljis1780]

@39:26 _'What does a Vet use to mend a broken Swan Neck?'_ _'Duck Tape'_ BTW Optimus will make jokes for me _One Day_

[@Hammertime86]

Snap, crackle, pop are the subsequent derivatives

[@SteveRowe]

Derivatives: position, velocity, acceleration, jerk, snap, crackle, and pop. Really.

[@dansbrown1313]

There is a slight chance that these gentlemen are getting exciterpated! :)

[@larropowell3658]

I think that the fingers are positioned correct when it is picking up the metal parts and placing them down. if you look at how the parts are set in the jigs you could not get your fingers under the pieces as it looks like they are set flush to the individual jigs so the robot can only pick up the way it has. if the robot has been able to see and work out this then that is amazing.

[@imconsequetau5275]

It shouldn't be difficult to have two channels to insert fingers under the product. That would reduce the pinch force required to maintain enough friction. However, unlike animals, the robot can maintain a given pinch force without expending energy.

[@r.a.monigold9789]

A Bumble Bee supposedly isn't designed for flight. But it flies well. Bumble Bee Tesla Bot #1 is not supposed to function without a tether - but it does OK. So Bumble Cee

[@fredbloggs5902]

Hard to believe you can’t see it’s a joke relating to Transformers.

[@KrK-EST]

Just to not mess up again, do not use zoom, use Skype or for security Wire for video calls

[@lancecargopants1897]

Can someone tell me why Tesla doesn't take the route of lightweight HASEL artificial muscles instead of heavy, noisy actuators?

[@waynerussell6401]

Maximum utility in minimum time and cost.

[@jackdbur]

Are they ready for production? What are their MTBF rates.

[@CorwynGC]

"Snap" is the 4th derivative of position. ...and you're not going to like this but... "Crackle" is 5th. "Pop" is 6th.

[@ibdrahim]

Its so nice of them to let you go in person! Now you can bring all us smoothbraines neanderthals up to speed😂

[@wreckinball11]

So what code was used to make the bot walk on and off stage? If it uses FSD computer wouldn't it have to have a destination to get to as part of the stage then be sent a return route like we do sharing our google maps from our cells? Or was it remotely moved or just programmed for 25 steps out turn left 10 turn and dance.

[@zhchbob]

I think it was remote controlled.

[@andrewradford3953]

Those finger tendon spools look ungainly. Why not make the motor into a long internally threaded body, and attach the tendon to a short threaded but rotationally fixed rod inside?