(Laughter)
(笑聲)
(Laughter)
(笑聲)
That's SpotMini. He'll be back in a little while.
這是 SpotMini (迷你小花), 他等等就會回來。
I --
我……
(Applause)
(掌聲)
I love building robots. And my long-term goal is to build robots that can do what people and animals do. And there's three things in particular that we're interested in. One is balance and dynamic mobility, the second one is mobile manipulation, and the third one is mobile perception.
我喜歡製作機器人。 我的長期目標,是我做出的機器人 要能做到人類與動物能做到的。 我們感興趣的事情, 主要有三項。 第一項是平衡與動態行動力, 第二項是行動操控, 第三項是行動感知。
So, dynamic mobility and balance -- I'm going to do a demo for you. I'm standing here, balancing. I can see you're not very impressed. OK, how about now?
所以,動態行動力與平衡── 我來做個示範給各位看。 我站在這裡,很平衡。 看來各位並沒有覺得很佩服。 好,那現在這樣呢?
(Laughter)
(笑聲)
How about now?
現在這樣呢?
(Applause)
(掌聲)
Those simple capabilities mean that people can go almost anywhere on earth, on any kind of terrain. We want to capture that for robots.
那些簡單能力意味著人類幾乎 可以到達地球上的任何地方, 任何地形皆可。 我們想要幫機器人取得那能力。
What about manipulation? I'm holding this clicker in my hand; I'm not even looking at it, and I can manipulate it without any problem. But even more important, I can move my body while I hold the manipulator, the clicker, and stabilize and coordinate my body, and I can even walk around. And that means I can move around in the world and expand the range of my arms and my hands and really be able to handle almost anything. So that's mobile manipulation. And all of you can do this.
那麼操控呢? 我手上持有一個搖控器; 我甚至沒有看它, 我就可以操控它,這一點也沒問題。 但更重要的是, 在我手持這個操控機置── 搖控器時,我可以移動身體, 並且穩定、協調我的身體。 我甚至可以到處走動。 那意味著,我可以 在世界上到處走動, 擴展我的手臂與手的範圍, 且真的能夠操作幾乎任何東西。 那就是行動操控。 你們每個人都做得到。
Third is perception. I'm looking at a room with over 1,000 people in it, and my amazing visual system can see every one of you -- you're all stable in space, even when I move my head, even when I move around. That kind of mobile perception is really important for robots that are going to move and act out in the world.
第三項是感知。 我看到這個會議廳裡面 有超過 1000 人, 我驚人的視覺系統 可以看到你們每一個人── 在空間中你們都是穩定的, 即使當我移動我的頭、 即使當我走來走去也一樣。 這類的行動感知 對機器人真的很重要, 它們得一邊移動 一邊與外在的世界反應。
I'm going to give you a little status report on where we are in developing robots toward these ends. The first three robots are all dynamically stabilized robots. This one goes back a little over 10 years ago -- "BigDog." It's got a gyroscope that helps stabilize it. It's got sensors and a control computer.
我接下來要跟各位做個現況報告, 說明一下目前我們機器人的 開發進度到甚麼程度。 前三個機器人都是 動態上穩定的機器人。 這一隻大約是十年前── 它叫「BigDog」(大狗)。 它有個陀螺儀能協助穩定它。 它有感測器和控制電腦。
Here's a Cheetah robot that's running with a galloping gait, where it recycles its energy, it bounces on the ground, and it's computing all the time in order to keep itself stabilized and propelled.
這是一隻獵豹機器人, 用飛奔的步伐在跑著, 它會回收它的能量, 它會利用地板彈起, 且它時時刻刻都在運算, 以保持它的穩定和推進。
And here's a bigger robot that's got such good locomotion using its legs, that it can go in deep snow. This is about 10 inches deep, and it doesn't really have any trouble.
這是一隻更大的機器人, 它腳的移動力非常好, 可走在很深的積雪中。 那積雪有 10 吋深, 它完全沒有任何問題。
This is Spot, a new generation of robot -- just slightly older than the one that came out onstage. And we've been asking the question -- you've all heard about drone delivery: Can we deliver packages to your houses with drones? Well, what about plain old legged-robot delivery?
這是 Spot(小花), 新世代機器人… 比剛剛上台亮相的那一隻 要稍微老一點。 我們一直在問這個問題: 你們都聽過無人機送貨; 我們能夠用無人機 把包裏送到你家嗎? 那麼用老式的 有腳機器人來送貨如何?
(Laughter)
(笑聲)
So we've been taking our robot to our employees' homes to see whether we could get in --
所以我們帶我們的機器人 去我們員工的家裡, 試看看我們能否進得去──
(Laughter)
(笑聲)
the various access ways. And believe me, in the Boston area, there's every manner of stairway twists and turns. So it's a real challenge. But we're doing very well, about 70 percent of the way.
用各種能進入的方式。 相信我,在波士頓區, 有各式各樣的樓梯轉折和轉彎。 那真的是個挑戰。 但我們做得很好, 大約七成的路都能走。
And here's mobile manipulation, where we've put an arm on the robot, and it's finding its way through the door. Now, one of the important things about making autonomous robots is to make them not do just exactly what you say, but make them deal with the uncertainty of what happens in the real world. So we have Steve there, one of the engineers, giving the robot a hard time.
這是行動操控, 我們在機器人身上加了一隻手臂, 它正在設法開門。 製做自動機器人,有件很重要的事, 就是要讓它們 不要完全照你說的做, 讓它們去處理真實世界中 會發生的不確定性。 所以影片中的工程師史蒂夫 正在找機器人的麻煩。
(Laughter)
(笑聲)
And the fact that the programming still tolerates all that disturbance -- it does what it's supposed to.
而實際上,程式仍然 能容忍所有的干擾── 機器人在做它該做的。
Here's another example, where Eric is tugging on the robot as it goes up the stairs. And believe me, getting it to do what it's supposed to do in those circumstances is a real challenge, but the result is something that's going to generalize and make robots much more autonomous than they would be otherwise.
這是另一個例子, 機器人正在上樓時, 艾瑞克用力拉扯它。 相信我, 讓它能在這類情況下 仍然能去做它該做的, 是很大的挑戰。 但最後的結果,機器人能夠 面對一般的情況, 相對於沒這麼設計的結果, 它們變得更自動化了。
This is Atlas, a humanoid robot. It's a third-generation humanoid that we've been building. I'll tell you a little bit about the hardware design later. And we've been saying: How close to human levels of performance and speed could we get in an ordinary task, like moving boxes around on a conveyor? We're getting up to about two-thirds of the speed that a human operates on average. And this robot is using both hands, it's using its body, it's stepping, so it's really an example of dynamic stability, mobile manipulation and mobile perception. Here --
這是 Atlas (亞特力士), 人形機器人。 它是我們打造的 第三代人形機器人。 我等等會再告訴各位硬體的設計。 我們一直在說: 在做一般的工作任務時, 機器人能夠多接近人類的 表現與速度? 比如搬動傳輸帶上的箱子? 平均來說,我們可以達到 人類操作速度的三分之二。 這隻機器人在用雙手, 它在用它的身體, 它在跨步, 這個例子就展示了動態穩定性、 行動操控、 及行動感知。 這裡……
(Laughter)
(笑聲)
We actually have two Atlases.
我們其實有兩隻 Atlas。
(Laughter)
(笑聲)
Now, everything doesn't go exactly the way it's supposed to.
並非一切都完全依規劃的進行。
(Laughter)
(笑聲)
(Laughter)
(笑聲)
(Laughter)
(笑聲)
And here's our latest robot, called "Handle." Handle is interesting, because it's sort of half like an animal, and it's half something else with these leg-like things and wheels. It's got its arms on in kind of a funny way, but it really does some remarkable things. It can carry 100 pounds. It's probably going to lift more than that, but so far we've done 100. It's got some pretty good rough-terrain capability, even though it has wheels. And Handle loves to put on a show.
這是我們最新的機器人, 叫「Handle」(手把)。 Handle 很有趣, 因為它有點像半隻動物, 另一半則是其他的, 它有類似腿的東西和輪子。 它有手臂,樣子有點好笑。 但它能做些很驚人的事。 它能負重 100 磅。 它能舉起的重量可能更多, 但目前我們做到的是 100。 雖然它是用輪子, 但它對不平坦地形的 處理能力很棒。 Handle 很愛表演。
(Laughter)
(笑聲)
(Applause)
(掌聲)
I'm going to give you a little bit of robot religion. A lot of people think that a robot is a machine where there's a computer that's telling it what to do, and the computer is listening through its sensors. But that's really only half of the story. The real story is that the computer is on one side, making suggestions to the robot, and on the other side are the physics of the world. And that physics involves gravity, friction, bouncing into things. In order to have a successful robot, my religion is that you have to do a holistic design, where you're designing the software, the hardware and the behavior all at one time, and all these parts really intermesh and cooperate with each other. And when you get the perfect design, you get a real harmony between all those parts interacting with each other. So it's half software and half hardware, plus the behavior.
接下來我要跟各位 聊一下機器人的信仰。 很多人認為,機器人是 一種機器,裡面有台電腦, 電腦會告訴它該做什麼, 而電腦是透過它的感測器來做反應。 但那只對了一半。 真正的狀況是,一端是電腦, 對機器人提出建議, 另一端是物理學的世界。 那物理學涉及地心引力、 摩擦力、彈力等等。 若要做出一隻成功的機器人, 我的信仰是, 你得要做整體全面的設計, 你要設計軟體、硬體、以及行為, 同時一起設計, 所有這些部份都能 緊密配合並彼此合作。 當你做出完美的設計, 所有部件彼此的互動 才會有真正的和諧。 所以它是一半軟體、一半硬體, 外加行為。
We've done some work lately on the hardware, where we tried to go -- the picture on the left is a conventional design, where you have parts that are all bolted together, conductors, tubes, connectors. And on the right is a more integrated thing; it's supposed to look like an anatomy drawing. Using the miracle of 3-D printing, we're starting to build parts of robots that look a lot more like the anatomy of an animal. So that's an upper-leg part that has hydraulic pathways -- actuators, filters -- all embedded, all printed as one piece, and the whole structure is developed with a knowledge of what the loads and behavior are going to be, which is available from data recorded from robots and simulations and things like that.
我們最近在硬體上 下了點功夫,我們試著── 左圖是傳統的設計, 各部件都拴在一起, 如導體、管線、連接器。 右圖是比較整合式的, 它應該要看起來像是張 解剖學的圖。 靠著 3D 列印的奇蹟, 我們開始建立機器人的各部件, 它們看起來比較像是動物的解剖。 那是上腿部件,有著水壓通路── 促動器、過濾器── 都內建在其中,形成一件物品。 開發整個結構時, 要知道將來需要的載重以及行為, 這些資料來自機器人的記錄、 以及模擬等等。
So it's a data-driven hardware design. And using processes like that, not only the upper leg but some other things, we've gotten our robots to go from big, behemoth, bulky, slow, bad robots -- that one on the right, weighing almost 400 pounds -- down to the one in the middle which was just in the video, weighs about 190 pounds, just a little bit more than me, and we have a new one, which is working but I'm not going to show it to you yet, on the left, which weighs just 165 pounds, with all the same strength and capabilities. So these things are really getting better very quickly.
所以它是種資料驅動的硬體設計。 用那樣的過程, 不只是上腿部,還有其他東西, 我們讓我們的機器人從巨型、龐大、 笨重、緩慢、糟糕的機器人── 右邊那一隻重量幾乎有 400 磅── 縮減到中間那隻 剛剛在影片中看到的機器人, 它的重量約 190 磅, 只比我重一點, 我們還有一隻新的, 已經可以用了, 但我還不打算讓大家看, 就是左邊那隻, 重量為 165 磅, 具有同等的力量和能力。 所以這些東西很快地 就越做越好了。
So it's time for Spot to come back out, and we're going to demonstrate a little bit of mobility, dexterity and perception. This is Seth Davis, who's my robot wrangler today, and he's giving Spot some general direction by steering it around, but all the coordination of the legs and the sensors is done by the robot's computers on board. The robot can walk with a number of different gaits; it's got a gyro, or a solid-state gyro, an IMU on board. Obviously, it's got a battery, and things like that. One of the cool things about a legged robot is, it's omnidirectional. In addition to going forward, it can go sideways, it can turn in place. And this robot is a little bit of a show-off. It loves to use its dynamic gaits, like running --
該是 Spot 回來的時候了, 我們要來展示一下行動力、 機敏度、和感知。 這是賽斯戴維斯, 今天當我的機器人牛仔, 它會給 Spot 一些一般性的指令, 操縱它走來走去, 但腳和感測器的所有協調, 都是由機器人內建的電腦在做的。 這隻機器人有幾種不同的步法; 它內建有個迴轉儀, 或一個固態迴轉儀, 主機板上還有個慣性測量單元。 顯然,它也有電池這類的東西。 有腳的機器人很酷的一點是 它是全方向的。 除了向前走,它也能橫著走, 它可以原地旋轉。 這隻機器人有點愛現。 它喜歡用它的動態步法, 像跑步──
(Laughter)
(笑聲)
And it's got one more.
它還有一招。
(Laughter)
(笑聲)
Now if it were really a show-off, it would be hopping on one foot, but, you know.
如果它真的是在現的話, 它就會單腳跳了, 但,你知道的。
Now, Spot has a set of cameras here, stereo cameras, and we have a feed up in the center. It's kind of dark out in the audience, but it's going to use those cameras in order to look at the terrain right in front of it, while it goes over these obstacles back here. For this demo, Seth is steering, but the robot's doing all its own terrain planning. This is a terrain map, where the data from the cameras is being developed in real time, showing the red spots, which are where it doesn't want to step, and the green spots are the good places. And here it's treating them like stepping-stones. So it's trying to stay up on the blocks, and it adjusts its stride, and there's a ton of planning that has to go into an operation like that, and it does all that planning in real time, where it adjusts the steps a little bit longer or a little bit shorter.
Spot 有一組攝影機在這裡, 是立體攝影機, 上面這裡有即時影像。 觀眾席有點暗, 但它會用那些攝影機 來看它前方的地形, 它就能越過地上那些障礙。 這個展示表演中, 賽斯是在操縱沒錯, 但機器人自己在做它的地形規劃。 這是地形圖, 來自攝影機的資料會即時被處理, 顯示出的紅色區域, 是它不想踩到的地方, 綠色區域則是好地方。 它把它們視為跳板一樣。 它會試著留在積木塊上面, 它會調整它的步伐, 像這樣的活動 就會進行一大堆的規劃, 它會即時去做所有那些規劃, 決定要把步距稍微調大一點, 或稍微調小一點。
Now we're going to change it into a different mode, where it's just going to treat the blocks like terrain and decide whether to step up or down as it goes. So this is using dynamic balance and mobile perception, because it has to coordinate what it sees along with how it's moving.
現在,我們要把它轉到另一個模式, 它會把這些積木塊當做地形來看待, 隨著它前進,決定要踩上去 或踩下來。 這裡用到的是動態平衡 和行動感知, 因為它得要把它所見的 與它的動作做協調。
The other thing Spot has is a robot arm. Some of you may see that as a head and a neck, but believe me, it's an arm. Seth is driving it around. He's actually driving the hand and the body is following. So the two are coordinated in the way I was talking about before -- in the way people can do that. In fact, one of the cool things Spot can do we call, "chicken-head mode," and it keeps its head in one place in space, and it moves its body all around. There's a variation of this that's called "twerking" --
Spot 還有機器手臂。 有些人可能會把它 視為是頭和脖子, 但,相信我,那是手臂。 賽斯在操縱它。 他其實是在操縱這隻手, 而身體會隨著動。 兩者間是用我先前 談到的方式在做協調的── 用人類做協調的方式。 事實上,Spot 能做很多很酷的事, 其一被我們稱為「雞頭模式」, 它會把它的頭保持在 空間中的同一個位置, 還可以把身體動來動去。 這有另一種變化叫做「電臀舞」──
(Laughter)
(笑聲)
but we're not going to use that today.
但我們今天不會做這個。
(Laughter)
(笑聲)
So, Spot: I'm feeling a little thirsty. Could you get me a soda? For this demo, Seth is not doing any driving. We have a LIDAR on the back of the robot, and it's using these props we've put on the stage to localize itself. It's gone over to that location. Now it's using a camera that's in its hand to find the cup, picks it up -- and again, Seth's not driving. We've planned out a path for it to go -- it looked like it was going off the path -- and now Seth's going to take over control again, because I'm a little bit chicken about having it do this by itself. Thank you, Spot.
Spot,我覺得有點渴, 你能幫我拿瓶汽水嗎? 這個展示中, 賽斯沒有做任何操縱。 在機器人的背後有裝 LIDAR (雷射雷達、光學定向、測距), 它在使用我們放在台上的這些道具 來定位自己的位置。 它已經走到那個地點了。 現在它在用裝在它手上的攝影機 來找杯子, 把它拿起來… 同樣的,賽斯沒有在操縱。 我們為它規劃了要走的路徑── 看起來它要偏離路徑了── 賽斯現在重新開始取得控制權, 因為我有點怕 完全放手讓它自己做。 謝謝你,Spot。
(Applause)
(掌聲)
So, Spot: How do you feel about having just finished your TED performance?
所以,Spot, 對於你剛完成你的 TED 表演,感覺如何?
(Laughter)
(笑聲)
Me, too!
我有同感!
(Laughter)
(笑聲)
Thank you all, and thanks to the team at Boston Dynamics, who did all the hard work behind this.
謝謝大家, 謝謝波士頓動力公司的團隊, 他們是這幕後的功臣。
(Applause)
(掌聲)
Helen Walters: Marc, come back in the middle. Thank you so much. Come over here, I have questions.
海倫華特斯:馬克,請回來中央。 非常謝謝你。 請過來這裡,我有些問題。
So, you mentioned the UPS and the package delivery. What are the other applications that you see for your robots?
所以,你提到了優比速和包裹遞送。 你認為你的機器人 還能做什麼其他應用?
Marc Raibert: You know, I think that robots that have the capabilities I've been talking about are going to be incredibly useful. About a year ago, I went to Fukushima to see what the situation was there, and there's just a huge need for machines that can go into some of the dirty places and help remediate that.
馬克萊柏特:我認為, 具有我談到的那些能力的機器人 將會非常有用。 大約一年前,我去了福島, 去看那兒的狀況如何, 那裡非常需要 有機器能夠進入一些污染的地方, 協助做修復。
I think it won't be too long until we have robots like this in our homes, and one of the big needs is to take care of the aging and invalids. I think that it won't be too long till we're using robots to help take care of our parents, or probably more likely, have our children help take care of us. And there's a bunch of other things. I think the sky's the limit. Many of the ideas we haven't thought of yet, and people like you will help us think of new applications.
我想在不久的將來,我們家裡 就會有像這樣的機器人了, 其中一個很大的需求, 就是要照顧年邁者 及病弱者。 我想不用太久,我們就會用機器人 來協助照顧我們的父母, 或是更有可能,是讓機器人 協助我們的孩子照顧我們。 還有一大堆其他可做的。 我認為是沒有限制的。 還有很多點子我們還沒去想, 像你們這樣的人 能協助我們想出新的應用。
HW: So what about the dark side? What about the military? Are they interested?
海倫:那麼黑暗面呢? 如軍方的應用? 他們有興趣嗎?
MR: Sure, the military has been a big funder of robotics. I don't think the military is the dark side myself, but I think, as with all advanced technology, it can be used for all kinds of things.
馬克:當然,軍方一直是 機器人學的重要資助者。 我自己並不覺得軍方算是黑暗面, 但我認為,有這些先進技術, 它可以用在各種事物上。
HW: Awesome. Thank you so much.
海倫:棒極了,非常謝謝你。
MR: OK, you're welcome.
馬克:好的,不客氣。
Thank you.
謝謝你。
(Applause)
(掌聲)