Meet Spot, the robot dog that can run, hop and open doors | Marc Raibert

3,213,428 views ・ 2017-08-14

TED


Please double-click on the English subtitles below to play the video.

00:19
(Laughter)
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(Laughter)
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That's SpotMini.
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He'll be back in a little while.
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I --
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(Applause)
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I love building robots.
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And my long-term goal is to build robots
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that can do what people and animals do.
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And there's three things in particular
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that we're interested in.
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One is balance and dynamic mobility,
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the second one is mobile manipulation,
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and the third one is mobile perception.
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So, dynamic mobility and balance --
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I'm going to do a demo for you.
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I'm standing here, balancing.
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I can see you're not very impressed. OK, how about now?
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(Laughter)
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How about now?
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(Applause)
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Those simple capabilities mean that people can go almost anywhere on earth,
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on any kind of terrain.
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We want to capture that for robots.
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What about manipulation?
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I'm holding this clicker in my hand;
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I'm not even looking at it,
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and I can manipulate it without any problem.
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But even more important,
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I can move my body while I hold the manipulator, the clicker,
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and stabilize and coordinate my body,
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and I can even walk around.
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And that means I can move around in the world
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and expand the range of my arms and my hands
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and really be able to handle almost anything.
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So that's mobile manipulation.
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And all of you can do this.
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Third is perception.
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I'm looking at a room with over 1,000 people in it,
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and my amazing visual system can see every one of you --
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you're all stable in space,
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even when I move my head,
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even when I move around.
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That kind of mobile perception is really important for robots
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that are going to move and act
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out in the world.
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I'm going to give you a little status report
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on where we are in developing robots toward these ends.
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The first three robots are all dynamically stabilized robots.
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This one goes back a little over 10 years ago --
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"BigDog."
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It's got a gyroscope that helps stabilize it.
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It's got sensors and a control computer.
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Here's a Cheetah robot that's running with a galloping gait,
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where it recycles its energy,
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it bounces on the ground,
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and it's computing all the time
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in order to keep itself stabilized and propelled.
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And here's a bigger robot
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that's got such good locomotion using its legs,
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that it can go in deep snow.
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This is about 10 inches deep,
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and it doesn't really have any trouble.
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This is Spot, a new generation of robot --
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just slightly older than the one that came out onstage.
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And we've been asking the question --
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you've all heard about drone delivery:
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Can we deliver packages to your houses with drones?
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Well, what about plain old legged-robot delivery?
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(Laughter)
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So we've been taking our robot to our employees' homes
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to see whether we could get in --
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(Laughter)
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the various access ways.
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And believe me, in the Boston area,
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there's every manner of stairway twists and turns.
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So it's a real challenge.
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But we're doing very well, about 70 percent of the way.
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And here's mobile manipulation,
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where we've put an arm on the robot,
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and it's finding its way through the door.
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Now, one of the important things about making autonomous robots
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is to make them not do just exactly what you say,
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but make them deal with the uncertainty of what happens in the real world.
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So we have Steve there, one of the engineers,
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giving the robot a hard time.
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(Laughter)
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And the fact that the programming still tolerates all that disturbance --
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it does what it's supposed to.
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Here's another example, where Eric is tugging on the robot
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as it goes up the stairs.
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And believe me,
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getting it to do what it's supposed to do in those circumstances
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is a real challenge,
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but the result is something that's going to generalize
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and make robots much more autonomous than they would be otherwise.
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This is Atlas, a humanoid robot.
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It's a third-generation humanoid that we've been building.
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I'll tell you a little bit about the hardware design later.
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And we've been saying:
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How close to human levels of performance and speed could we get
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in an ordinary task,
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like moving boxes around on a conveyor?
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We're getting up to about two-thirds of the speed that a human operates
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on average.
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And this robot is using both hands, it's using its body,
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it's stepping,
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so it's really an example of dynamic stability,
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mobile manipulation
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and mobile perception.
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Here --
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(Laughter)
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We actually have two Atlases.
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(Laughter)
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Now, everything doesn't go exactly the way it's supposed to.
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(Laughter)
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(Laughter)
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(Laughter)
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And here's our latest robot, called "Handle."
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Handle is interesting, because it's sort of half like an animal,
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and it's half something else
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with these leg-like things and wheels.
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It's got its arms on in kind of a funny way,
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but it really does some remarkable things.
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It can carry 100 pounds.
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It's probably going to lift more than that,
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but so far we've done 100.
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It's got some pretty good rough-terrain capability,
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even though it has wheels.
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And Handle loves to put on a show.
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(Laughter)
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(Applause)
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I'm going to give you a little bit of robot religion.
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A lot of people think that a robot is a machine where there's a computer
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that's telling it what to do,
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and the computer is listening through its sensors.
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But that's really only half of the story.
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The real story is that the computer is on one side,
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making suggestions to the robot,
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and on the other side are the physics of the world.
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And that physics involves gravity, friction, bouncing into things.
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In order to have a successful robot,
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my religion is that you have to do a holistic design,
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where you're designing the software, the hardware and the behavior
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all at one time,
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and all these parts really intermesh and cooperate with each other.
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And when you get the perfect design, you get a real harmony
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between all those parts interacting with each other.
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So it's half software and half hardware,
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plus the behavior.
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We've done some work lately on the hardware, where we tried to go --
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the picture on the left is a conventional design,
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where you have parts that are all bolted together,
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conductors, tubes, connectors.
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And on the right is a more integrated thing;
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it's supposed to look like an anatomy drawing.
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Using the miracle of 3-D printing,
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we're starting to build parts of robots
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that look a lot more like the anatomy of an animal.
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So that's an upper-leg part that has hydraulic pathways --
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actuators, filters --
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all embedded, all printed as one piece,
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and the whole structure is developed
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with a knowledge of what the loads and behavior are going to be,
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which is available from data recorded from robots
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and simulations and things like that.
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So it's a data-driven hardware design.
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And using processes like that,
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not only the upper leg but some other things,
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we've gotten our robots to go from big, behemoth, bulky, slow, bad robots --
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that one on the right, weighing almost 400 pounds --
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down to the one in the middle which was just in the video,
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weighs about 190 pounds,
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just a little bit more than me,
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and we have a new one,
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which is working but I'm not going to show it to you yet,
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on the left,
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which weighs just 165 pounds,
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with all the same strength and capabilities.
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So these things are really getting better very quickly.
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So it's time for Spot to come back out,
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and we're going to demonstrate a little bit of mobility,
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dexterity and perception.
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This is Seth Davis, who's my robot wrangler today,
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and he's giving Spot some general direction
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by steering it around,
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but all the coordination of the legs and the sensors
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is done by the robot's computers on board.
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The robot can walk with a number of different gaits;
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it's got a gyro,
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or a solid-state gyro,
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an IMU on board.
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Obviously, it's got a battery, and things like that.
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One of the cool things about a legged robot is,
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it's omnidirectional.
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In addition to going forward, it can go sideways,
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it can turn in place.
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And this robot is a little bit of a show-off.
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It loves to use its dynamic gaits,
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like running --
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(Laughter)
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And it's got one more.
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(Laughter)
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Now if it were really a show-off, it would be hopping on one foot,
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but, you know.
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Now, Spot has a set of cameras here, stereo cameras,
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and we have a feed up in the center.
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It's kind of dark out in the audience,
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but it's going to use those cameras in order to look at the terrain
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right in front of it,
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while it goes over these obstacles back here.
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For this demo, Seth is steering,
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but the robot's doing all its own terrain planning.
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This is a terrain map,
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where the data from the cameras is being developed in real time,
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showing the red spots, which are where it doesn't want to step,
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and the green spots are the good places.
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And here it's treating them like stepping-stones.
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So it's trying to stay up on the blocks,
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and it adjusts its stride,
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and there's a ton of planning
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that has to go into an operation like that,
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and it does all that planning in real time,
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where it adjusts the steps a little bit longer
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or a little bit shorter.
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Now we're going to change it into a different mode,
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where it's just going to treat the blocks like terrain
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and decide whether to step up or down
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as it goes.
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So this is using dynamic balance
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and mobile perception,
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because it has to coordinate what it sees along with how it's moving.
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The other thing Spot has is a robot arm.
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Some of you may see that as a head and a neck,
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but believe me, it's an arm.
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Seth is driving it around.
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He's actually driving the hand and the body is following.
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So the two are coordinated in the way I was talking about before --
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in the way people can do that.
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In fact, one of the cool things Spot can do we call, "chicken-head mode,"
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and it keeps its head in one place in space,
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and it moves its body all around.
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There's a variation of this that's called "twerking" --
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(Laughter)
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but we're not going to use that today.
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(Laughter)
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So, Spot: I'm feeling a little thirsty. Could you get me a soda?
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For this demo, Seth is not doing any driving.
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We have a LIDAR on the back of the robot,
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and it's using these props we've put on the stage
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to localize itself.
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It's gone over to that location.
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Now it's using a camera that's in its hand
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to find the cup,
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picks it up --
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and again, Seth's not driving.
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We've planned out a path for it to go --
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it looked like it was going off the path --
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and now Seth's going to take over control again,
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because I'm a little bit chicken about having it do this by itself.
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Thank you, Spot.
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(Applause)
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So, Spot:
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How do you feel about having just finished your TED performance?
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(Laughter)
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Me, too!
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(Laughter)
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Thank you all,
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and thanks to the team at Boston Dynamics,
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who did all the hard work behind this.
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(Applause)
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Helen Walters: Marc, come back in the middle.
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Thank you so much.
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Come over here, I have questions.
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So, you mentioned the UPS and the package delivery.
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What are the other applications that you see for your robots?
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Marc Raibert: You know, I think that robots
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that have the capabilities I've been talking about
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are going to be incredibly useful.
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About a year ago, I went to Fukushima
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to see what the situation was there,
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and there's just a huge need
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for machines that can go into some of the dirty places
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and help remediate that.
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I think it won't be too long until we have robots like this in our homes,
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and one of the big needs is to take care of the aging
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and invalids.
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I think that it won't be too long till we're using robots
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to help take care of our parents,
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or probably more likely, have our children help take care of us.
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And there's a bunch of other things.
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I think the sky's the limit.
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Many of the ideas we haven't thought of yet,
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and people like you will help us think of new applications.
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HW: So what about the dark side?
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What about the military?
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Are they interested?
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MR: Sure, the military has been a big funder of robotics.
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I don't think the military is the dark side myself,
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but I think, as with all advanced technology,
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14:24
it can be used for all kinds of things.
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HW: Awesome. Thank you so much.
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MR: OK, you're welcome.
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Thank you.
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(Applause)
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