Epic poems have six main elements: 1) A hero of legendary proportions who is famous for their deeds, 2) An adventure requiring superhuman strength that reflects societal values, 3) Involvement of the supernatural like gods or demons, 4) An omniscient narrator who knows all and remains objective, 5) Beginning in media res in the middle of the action, and 6) Originating from oral traditions passed down for generations before being compiled into written form. Examples of epic heroes and their adventures discussed include Beowulf slaying Grendel, Odysseus in The Odyssey, and Rama battling the demon Ravana in the Ramayana.