Even nature's most disgusting creatures have important secrets, but who would want a swarm of cockroaches coming towards them?
即使自然界的最令人厭惡的生物 也擁有重要的秘密。 但是誰會想要一群向牠們 走來的蟑螂呢?
Yet one of the greatest differences between natural and human technologies relates to robustness. Robust systems are stable in complex and new environments. Remarkably, cockroaches can self-stabilize running over rough terrain. When we put a jet pack on them, or give them a perturbation like an earthquake, we discovered that their wonderfully tuned legs allow them to self-stabilize without using any of their brainpower. They can go over complex terrain like grass, no problem, and not get destabilized. We discovered a new behavior where, because of their shape, they actually roll automatically to their side to go through this artificial test bit of grass.
而自然和人類科技的一最大不同點 在於其穩健性。 穩健的系統於複雜或是新環境中, 都能穩定地運作。 令人矚目的是,蟑螂能夠自我穩定地 越過高低不平的地形。 當我們在牠們上面放噴射背包, 或者以類似地震的事件擾亂牠時, 我們發現,牠們極為調諧的腿 可讓牠們自行穩定地行動, 而絲毫不費任何腦力。 牠們能夠通過複雜地形,比如草地, 而不會變得不穩定。 我們發現了一種新的行為, 由於牠們的體型, 牠們可自動地滚到身體另一側, 來通過實驗中的人工草。
Robust systems can perform multiple tasks with the same structure. Here's a new behavior we've discovered. The animals rapidly invert and disappear in less than 150 milliseconds — you never see them — using the same structures that they use to run, their legs. They can run upside down very rapidly on rods, branches and wires, and if you perturb one of those branches, they can do this. They can perform gymnastic maneuvers like no robot we have yet. And they have nearly unlimited maneuverability with that same structure and unprecedented access to a variety of different areas. They have wings for flying when they get warm, but they use those same wings to flip over if they get destabilized. Very effective.
穩健性系統能夠以這樣相同的結構, 來履行多種任務。 這是我們發現的一種新的行為。 這些動物們用來跑行的同樣的結構 在150毫秒迅速地翻轉和消失, 一下子就無影無蹤-- 牠們上下顛倒地、非常迅速地 在棍子,樹枝和電線上跑過, 而如果你擾亂其中一個樹枝的話, 牠們(依然)能夠如此越過。 牠們能夠履行的體操動作 是我們至今現有機器人所無法實現的 牠們以一同種結構, 擁有近乎無限的機動性, 能夠史無前例地進入 多樣地不同的區域。 當牠們熱身後,牠們可用翅膀飛行, 如果牠們遭到不穩定(的干擾), 而牠們也用同樣的翅膀, 來非常有效地翻滾過來。
Robust systems are also fault tolerant and fail-safe. This is the foot of a cockroach. It has spines, gluey pads and claws, but if you take off those feet, they can still go over rough terrain, like the bottom video that you see, without hardly slowing down. Extraordinary. They can run up mesh without their feet. Here's an animal using a normal, alternating tripod: three legs, three legs, three legs, but in nature, the insects often have lost their legs. Here's one moving with two middle legs gone. It can even lose three legs, in a tripod, and adopt a new gait, a hopping gait. And I point out that all of these videos are slowed down 20 times, so they're actually really fast, when you see this.
穩健系統也有故障容錯和自我防故障機制。 這是一隻蟑螂的腳掌。 牠有脊柱,胶垫和爪子 但是如果你拿掉牠的腳掌, 牠們仍然能夠越過高低不平的地形, 就像在下面錄像裡,你看到的一樣。 絲毫不減速地(越過)。非同凡響。 牠們沒有腳掌仍可越上鐵絲網。 這個動物使用正常的、替換性三軸架結構。 三只腿,三只腿,三只腿 但在自然中,這些昆蟲常失去牠們的腿。 這一隻正移動的昆蟲,牠没中間2條腿。 牠甚至失去三條腿,一個三軸架結構中, 牠用一種新步法,一種跳躍式的步法。 需要說明的是,所有這些影片 都放慢20倍來播放 所以牠們實際上真的很快。
Robust systems are also damage resistant. Here's an animal climbing up a wall. It looks like a rapid, smooth, vertical climb, but when you slow it down, you see something very different. Here's what they do. They intentionally have a head-on collision with the wall so they don't slow down and can transition up it in 75 milliseconds. And they can do this in part because they have extraordinary exoskeletons. And they're really just made up of compliant joints that are tubes and plates connected to one another. Here's a dissection of an abdomen of a cockroach. You see these plates, and you see the compliant membrane.
穩健性系統也有防破壞機制。 這一隻正在向上爬牆。 看上去是迅速平穩地垂直爬行, 但是當影像放慢的時候, 你會看到一些非常不同的事情。 牠們其實這麼做 : 牠們故意地讓頭衝撞這面牆, 所以牠們不用減速,能在75毫秒 轉變向上爬。 牠們能這樣做,部份原因是, 牠們有特別的外骨骼。 牠們由兼容的關節組成 而這些關節就由管子和墊子 互相連接在一起。 這是一隻蟑螂的腹部的解剖面。 你能看到這些墊子,這些兼容的隔膜。
My engineering colleague at Berkeley designed with his students a novel manufacturing technique where you essentially origami the exoskeleton, you laser cut it, laminate it, and you fold it up into a robot. And you can do that now in less than 15 minutes. These robots, called DASH, for Dynamic Autonomous Sprawled Hexapod, are highly compliant robots, and they're remarkably robust as a result of these features. They're certainly incredibly damage resistant. (Laughter) They even have some of the behaviors of the cockroaches. So they can use their smart, compliant body to transition up a wall in a very simple way. They even have some of the beginnings of the rapid inversion behavior where they disappear.
我在柏克萊的工程設計同事 和他的學生們設計出了 一種新穎的製造技術。 像折紙一樣打開外骨骼, 將之雷射切割,分成薄片, 然後折疊成一個機器人。 現在能在15分鐘內完成。 這些機械人,叫做DASH, 動態自發爬行昆蟲, 是有高度兼容的機器人, 它們具有令人矚目的 穩定性。 它們有非凡地抗破壞性。 (觀眾在笑) 它們甚至擁有蟑螂的一些行為特徵。 所以它們能使用智慧兼容的身體 以非常簡單方式, 來轉變爬上一面牆 它們甚至有像蟑螂消失一般的 迅速地倒置轉換行為 的一些開端。
Now we want to know why they can go anywhere. We discovered that they can go through three-millimeter gaps, the height of two pennies, two stacked pennies, and when they do this, they can actually run through those confined spaces at high speeds, although you never see it. To understand it better, we did a CT scan of the exoskeleton and showed that they can compress their body by over 40 percent. We put them in a materials testing machine to look at the stress strain analysis and showed that they can withstand forces 800 times their body weight, and after this they can fly and run absolutely normally.
我們想知到牠們爲什麽能去任何地方。 我們發現,牠們能夠越過 三毫米的空隙, 兩個堆起來的便士(硬幣)的高度, 而當牠們做這件事情時, 牠們能夠高速地 跑過這些密閉的空間, 你只是從來沒看見牠。 爲了更理解牠, 我們以電腦斷層掃描外骨骼 其顯示,牠們能夠壓縮身體超過40%。 我們牠們放在一個材料檢驗設備中, 來作應力應變分析, 發現牠們能夠承受八倍於 牠們身體重量的力量, 而壓力後夠正常地飛和跑。
So you never know where curiosity-based research will lead, and someday you may want a swarm of cockroach-inspired robots to come at you. (Laughter)
所以你無法預料 基於好奇的研究會導向哪裡, (或許)某天你可能想要 一群受蟑螂啓發研究的機器人 向你走來。 (觀眾的笑聲)
Thank you.
謝謝大家。
(Applause)
(觀眾鼓掌)。