A robot that runs and swims like a salamander | Auke Ijspeert

814,541 views ใƒป 2016-02-18

TED


์•„๋ž˜ ์˜๋ฌธ์ž๋ง‰์„ ๋”๋ธ”ํด๋ฆญํ•˜์‹œ๋ฉด ์˜์ƒ์ด ์žฌ์ƒ๋ฉ๋‹ˆ๋‹ค.

๋ฒˆ์—ญ: Hansol Ryu ๊ฒ€ํ† : rosie cha
00:12
This is Pleurobot.
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์ด๊ฒƒ์€ ํ”Œ๋กœ๋กœ๋ด‡(Pleurobot)์ž…๋‹ˆ๋‹ค.
00:15
Pleurobot is a robot that we designed to closely mimic a salamander species
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ํ”Œ๋กœ๋กœ๋ด‡์€ ์ด๋ฒ ๋ฆฌ์•„์˜์› (Pleurodeles waltl)์ด๋ผ๋Š” ๋„๋กฑ๋‡ฝ์„
๊ทผ์ ‘ํ•˜๊ฒŒ ๋ชจ์‚ฌํ•˜๋„๋ก ์ €ํฌ๊ฐ€ ์„ค๊ณ„ํ•œ ๋กœ๋ด‡์ž…๋‹ˆ๋‹ค.
00:19
called Pleurodeles waltl.
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00:21
Pleurobot can walk, as you can see here,
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๋ณด์‹œ๋‹ค์‹œํ”ผ ํ”Œ๋กœ๋กœ๋ด‡์€ ๊ฑธ์„ ์ˆ˜ ์žˆ๊ณ ,
00:23
and as you'll see later, it can also swim.
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๋‚˜์ค‘์— ๋ณด์‹œ๊ฒ ์ง€๋งŒ ์ˆ˜์˜๋„ ํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
00:26
So you might ask, why did we design this robot?
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์ด ๋กœ๋ด‡์„ ์™œ ์„ค๊ณ„ํ–ˆ๋Š”์ง€ ๊ถ๊ธˆํ•˜์‹ค ์ˆ˜๋„ ์žˆ์„ ๊ฒ๋‹ˆ๋‹ค.
00:28
And in fact, this robot has been designed as a scientific tool for neuroscience.
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์‚ฌ์‹ค, ์ด ๋กœ๋ด‡์€ ์‹ ๊ฒฝ ๊ณผํ•™ ์—ฐ๊ตฌ์— ์‚ฌ์šฉ๋  ๊ณผํ•™์  ๋„๊ตฌ๋กœ ์„ค๊ณ„๋˜์—ˆ์Šต๋‹ˆ๋‹ค.
00:33
Indeed, we designed it together with neurobiologists
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์‹ค์ œ๋กœ ์ €ํฌ๋Š” ์ด ๋กœ๋ด‡์„ ์‹ ๊ฒฝ๊ณผํ•™์ž๋“ค๊ณผ ํ•จ๊ป˜ ์„ค๊ณ„ํ–ˆ์Šต๋‹ˆ๋‹ค.
00:35
to understand how animals move,
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๋™๋ฌผ์ด ์–ด๋–ป๊ฒŒ ์›€์ง์ด๋Š”์ง€,
00:37
and especially how the spinal cord controls locomotion.
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ํŠนํžˆ ์–ด๋–ป๊ฒŒ ์ฒ™์ˆ˜๊ฐ€ ๋ณดํ–‰์„ ์ œ์–ดํ•˜๋Š”์ง€๋ฅผ ์ดํ•ดํ•˜๋Š” ๊ฒƒ์ด ๋ชฉํ‘œ์˜€์Šต๋‹ˆ๋‹ค.
00:41
But the more I work in biorobotics,
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๊ทธ๋Ÿฐ๋ฐ ์ƒ์ฒด ๊ธฐ๊ณ„ ๋ถ„์•ผ์—์„œ ์ผํ•˜๋ฉด ํ• ์ˆ˜๋ก
00:43
the more I'm really impressed by animal locomotion.
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์ €๋Š” ๊ฐˆ์ˆ˜๋ก ๋™๋ฌผ์˜ ๋ณดํ–‰์— ๊นŠ์€ ์ธ์ƒ์„ ๋ฐ›๊ฒŒ ๋˜์—ˆ์Šต๋‹ˆ๋‹ค.
00:45
If you think of a dolphin swimming or a cat running or jumping around,
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ํ—ค์—„์น˜๋Š” ๋Œ๊ณ ๋ž˜, ํ˜น์€ ๋‹ฌ๋ฆฌ๊ฑฐ๋‚˜ ๋›ฐ์–ด์˜ค๋ฅด๋Š” ๊ณ ์–‘์ด,
ํ˜น์€ ์šฐ๋ฆฌ๋“ค ์‚ฌ๋žŒ์˜ ์šด๋™๋„ ๊ทธ๋ ‡์Šต๋‹ˆ๋‹ค.
00:50
or even us as humans,
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00:51
when you go jogging or play tennis,
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๊ฐ€๋ณ๊ฒŒ ๋›ฐ๊ฑฐ๋‚˜ ํ…Œ๋‹ˆ์Šค๋ฅผ ์น˜๋Š” ๋™์ž‘ ๋“ฑ์„ ์ƒ๊ฐํ•ด๋ณด๋ฉด
00:53
we do amazing things.
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์šฐ๋ฆฌ๋Š” ๋†€๋ผ์šด ์ผ์„ ํ•˜๊ณ  ์žˆ๋Š” ๊ฒ๋‹ˆ๋‹ค.
00:55
And in fact, our nervous system solves a very, very complex control problem.
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์‹ค์ œ๋กœ ์šฐ๋ฆฌ์˜ ์‹ ๊ฒฝ๊ณ„๋Š” ๋งค์šฐ ๋ณต์žกํ•œ ์ œ์–ด ๋ฌธ์ œ๋ฅผ ํ’€์–ด๋‚ด๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.
01:00
It has to coordinate more or less 200 muscles perfectly,
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์•ฝ 200๊ฐœ์˜ ๊ทผ์œก์„ ์™„๋ฒฝํ•˜๊ฒŒ ์กฐ์ •ํ•ด์•ผ ํ•ฉ๋‹ˆ๋‹ค.
01:03
because if the coordination is bad, we fall over or we do bad locomotion.
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๊ทธ๋ ‡์ง€ ์•Š๋‹ค๋ฉด ์šฐ๋ฆฌ๋Š” ๋„˜์–ด์ง€๊ฑฐ๋‚˜ ์ž˜ ๊ฑท์ง€ ๋ชปํ•˜๊ฒŒ ๋˜๊ฒ ์ฃ .
01:07
And my goal is to understand how this works.
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์ €์˜ ๋ชฉํ‘œ๋Š” ๊ทธ๊ฒƒ์ด ์–ด๋–ป๊ฒŒ ์ž‘๋™ํ•˜๋Š”์ง€๋ฅผ ์ดํ•ดํ•˜๋Š” ๊ฒƒ์ž…๋‹ˆ๋‹ค.
01:11
There are four main components behind animal locomotion.
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๋™๋ฌผ์˜ ๋ณดํ–‰์—๋Š” ๋„ค ๊ฐ€์ง€ ๊ธฐ๋ณธ์ ์ธ ์š”์†Œ๊ฐ€ ์žˆ์Šต๋‹ˆ๋‹ค.
01:14
The first component is just the body,
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์ฒซ ๋ฒˆ์งธ ์š”์†Œ๋Š” ๋ชธ์ž…๋‹ˆ๋‹ค.
01:16
and in fact we should never underestimate
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์‚ฌ์‹ค ์ƒ์ฒด ์—ญํ•™์˜ ์„ ํ–‰ ์—ฐ๊ตฌ์—์„œ ์ด๋ฏธ ๋™๋ฌผ์˜ ๋ณดํ–‰์„ ์–ด๋Š ์ •๋„๊นŒ์ง€
01:18
to what extent the biomechanics already simplify locomotion in animals.
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๋‹จ์ˆœํ™”์‹œ์ผฐ๋Š”์ง€๋ฅผ ์ ˆ๋Œ€๋กœ ๊ณผ์†Œํ‰๊ฐ€ํ•ด์„œ๋Š” ์•ˆ ๋ฉ๋‹ˆ๋‹ค.
01:22
Then you have the spinal cord,
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๋‘๋ฒˆ์งธ ์š”์†Œ๋Š” ์šฐ๋ฆฌ ๋ชธ ์†์— ์žˆ๋Š” ์ฒ™์ˆ˜์ž…๋‹ˆ๋‹ค.
01:24
and in the spinal cord you find reflexes,
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์ด ์ฒ™์ˆ˜์—์„œ ๋ฐ˜์‚ฌ๊ฐ€ ์ผ์–ด๋‚ฉ๋‹ˆ๋‹ค.
01:26
multiple reflexes that create a sensorimotor coordination loop
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์—ฌ๊ธฐ์„œ ์ผ์–ด๋‚˜๋Š” ๋‹ค์ˆ˜์˜ ๋ฐ˜์‚ฌ๊ฐ€ ๊ฐ๊ฐ์šด๋™ ์กฐ์ • ํšŒ๋กœ๋ฅผ ๊ตฌ์„ฑํ•ฉ๋‹ˆ๋‹ค.
01:29
between neural activity in the spinal cord and mechanical activity.
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์ฒ™์ˆ˜์˜ ์‹ ๊ฒฝ ํ™œ๋™๊ณผ ๋ชธ์˜ ๊ธฐ๊ณ„์  ์ž‘์šฉ ์‚ฌ์ด๋ฅผ ์กฐ์ •ํ•˜๋Š” ํšŒ๋กœ์ฃ .
01:34
A third component are central pattern generators.
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์„ธ ๋ฒˆ์งธ ์š”์†Œ๋Š” ์ด ์ฒ™์ˆ˜ ๋‚ด์— ์žˆ๋Š” ์ค‘์ถ” ํŒจํ„ด ๋ฐœ์ƒ๊ธฐ(CPG)์ž…๋‹ˆ๋‹ค.
01:37
These are very interesting circuits in the spinal cord of vertebrate animals
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์ฒ™์ถ” ๋™๋ฌผ์˜ ์ฒ™์ˆ˜์— ์žˆ๋Š” ๋งค์šฐ ํฅ๋ฏธ๋กœ์šด ํšŒ๋กœ์ธ๋ฐ,
01:40
that can generate, by themselves,
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์ด ํšŒ๋กœ๋Š” ์ž์ฒด์ ์œผ๋กœ ๋™์ž‘์„ ์ž˜ ์กฐ์งํ™”ํ•ด์„œ
01:42
very coordinated rhythmic patterns of activity
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๊ทœ์น™์ ์ธ ๋™์ž‘ ํŒจํ„ด์„ ๋งŒ๋“ค์–ด๋‚ผ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
01:45
while receiving only very simple input signals.
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๋งค์šฐ ๋‹จ์ˆœํ•œ ์ž…๋ ฅ ์‹ ํ˜ธ๋งŒ ๋ฐ›์•„์„œ์š”.
01:47
And these input signals
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๋งˆ์ง€๋ง‰ ์š”์†Œ๋Š” ์ด๋Ÿฐ ์ž…๋ ฅ ์‹ ํ˜ธ๋“ค์ธ๋ฐ,
01:48
coming from descending modulation from higher parts of the brain,
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๋‡Œ์˜ ์šด๋™ํ”ผ์งˆ, ์†Œ๋‡Œ, ๊ธฐ์ €ํ•ต ๋“ฑ์˜ ๋‡Œ์˜ ์ƒ์œ„๋ถ€๋ถ„์—์„œ
ํ•˜ํ–‰์กฐ์ •์œผ๋กœ ๋‚ด๋ ค์˜ค๋Š” ์‹ ํ˜ธ๋ฅผ ๋งํ•˜๋ฉฐ,
01:52
like the motor cortex, the cerebellum, the basal ganglia,
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01:54
will all modulate activity of the spinal cord
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์ด ์‹ ํ˜ธ๋“ค์€ ์šฐ๋ฆฌ๊ฐ€ ๋ณดํ–‰ํ•˜๋Š” ๋™์•ˆ์—
01:56
while we do locomotion.
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์ฒ™์ˆ˜์˜ ํ™œ๋™์„ ์กฐ์ ˆํ•ฉ๋‹ˆ๋‹ค.
01:58
But what's interesting is to what extent just a low-level component,
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๊ทธ๋Ÿฐ๋ฐ ํฅ๋ฏธ๋กœ์šด ์ ์€ ๋‚ฎ์€ ๋‹จ๊ณ„์˜ ์š”์†Œ๋“ค์ธ
์ฒ™์ˆ˜์™€ ๋ชธ๋งŒ์œผ๋กœ๋„
02:01
the spinal cord, together with the body,
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๋ณดํ–‰ ๋ฌธ์ œ์˜ ์–ผ๋งˆ๋‚˜ ํฐ ๋ถ€๋ถ„์„ ์ด๋ฏธ ํ•ด๊ฒฐํ•  ์ˆ˜ ์žˆ๋Š”๊ฐ€ ํ•˜๋Š” ์ ์ž…๋‹ˆ๋‹ค.
02:03
already solve a big part of the locomotion problem.
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์•„๋งˆ๋„ ์—ฌ๋Ÿฌ๋ถ„์€ ๋‹ญ์˜ ๋จธ๋ฆฌ๋ฅผ ์ž˜๋ผ๋„ ์–ผ๋งˆ๊ฐ„์€ ๋‹ฌ๋ฆด ์ˆ˜ ์žˆ๋‹ค๋Š” ์ ์„
02:06
You probably know it by the fact that you can cut the head off a chicken,
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์•„์‹ค ์ˆ˜๋„ ์žˆ์„ ๊ฒ๋‹ˆ๋‹ค.
02:09
it can still run for a while,
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ํ•˜์œ„ ๋ถ€๋ถ„, ๊ทธ๋Ÿฌ๋‹ˆ๊นŒ ์ฒ™์ˆ˜์™€ ๋ชธ๋งŒ์œผ๋กœ๋„
02:10
showing that just the lower part, spinal cord and body,
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๋ณดํ–‰์˜ ํฐ ๋ถ€๋ถ„์„ ํ•ด๊ฒฐํ•  ์ˆ˜ ์žˆ๋‹ค๋Š” ๋œป์ด์ฃ .
02:13
already solve a big part of locomotion.
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02:15
Now, understanding how this works is very complex,
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์ด๋“ค์ด ์–ด๋–ป๊ฒŒ ์ž‘์šฉํ•˜๋Š”์ง€๋ฅผ ์•Œ๊ธฐ๋Š” ๋งค์šฐ ๋ณต์žกํ•œ๋ฐ
02:17
because first of all,
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์™œ๋ƒํ•˜๋ฉด ์šฐ์„ 
02:19
recording activity in the spinal cord is very difficult.
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์ฒ™์ˆ˜์˜ ํ™œ๋™์„ ๊ธฐ๋กํ•˜๋Š” ๊ฒƒ์ด ๋งค์šฐ ์–ด๋ ต๊ธฐ ๋•Œ๋ฌธ์ž…๋‹ˆ๋‹ค.
02:21
It's much easier to implant electrodes in the motor cortex
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์šด๋™ ํ”ผ์งˆ์— ์ „๊ทน์„ ์‹ฌ๋Š” ๊ฒƒ์ด ์ฒ™์ˆ˜์— ์‹ฌ๋Š” ๊ฒƒ ๋ณด๋‹ค ํ›จ์”ฌ ์‰ฌ์šด๋ฐ
02:24
than in the spinal cord, because it's protected by the vertebrae.
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์ฒ™์ถ”๊ฐ€ ์ฒ™์ˆ˜๋ฅผ ๊ฐ์‹ธ๊ณ  ๋ณดํ˜ธํ•˜๊ณ  ์žˆ๊ธฐ ๋•Œ๋ฌธ์ž…๋‹ˆ๋‹ค.
02:27
Especially in humans, very hard to do.
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์‚ฌ๋žŒ์—๊ฒŒ๋Š” ํŠนํžˆ ๋” ์–ด๋ ต์ฃ .
02:29
A second difficulty is that locomotion is really due to a very complex
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๋‘ ๋ฒˆ์งธ ์–ด๋ ค์›€์€ ๋ณดํ–‰์ด ์•ž์„œ ๋ง์”€๋“œ๋ฆฐ ๋„ค ๊ฐ€์ง€ ์š”์†Œ ์‚ฌ์ด์˜
02:33
and very dynamic interaction between these four components.
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์ •๋ง์ด์ง€ ๋งค์šฐ ๋ณต์žกํ•˜๊ณ  ๋™์ ์ธ ๊ด€๊ณ„์— ์˜์กดํ•˜๊ธฐ ๋•Œ๋ฌธ์ž…๋‹ˆ๋‹ค.
02:36
So it's very hard to find out what's the role of each over time.
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๊ทธ๋ž˜์„œ ๋งค ์ˆœ๊ฐ„์— ๊ฐ ์š”์†Œ๊ฐ€ ๋ฌด์Šจ ์—ญํ• ์„ ํ•˜๋Š”์ง€ ์•Œ์•„๋‚ด๊ธฐ๊ฐ€ ์–ด๋ ต์Šต๋‹ˆ๋‹ค.
02:40
This is where biorobots like Pleurobot and mathematical models
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์ด ์ ์ด ํ”Œ๋กœ๋กœ๋ด‡ ๊ฐ™์€ ์ƒ์ฒด ๊ธฐ๊ณ„์™€ ์ˆ˜ํ•™์  ๋ชจ๋ธ์ด
02:44
can really help.
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๊ธฐ์—ฌํ•  ์ˆ˜ ์žˆ๋Š” ๋ถ€๋ถ„์ž…๋‹ˆ๋‹ค.
02:47
So what's biorobotics?
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๊ทธ๋ ‡๋‹ค๋ฉด ์ƒ์ฒด ๊ธฐ๊ณ„๋Š” ๋ฌด์—‡์ผ๊นŒ์š”?
02:48
Biorobotics is a very active field of research in robotics
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์ƒ์ฒด ๊ธฐ๊ณ„๋Š” ๋กœ๋ด‡ ๊ณตํ•™์—์„œ ๋งค์šฐ ์—ฐ๊ตฌ๊ฐ€ ํ™œ๋ฐœํ•œ ๋ถ„์•ผ์ž…๋‹ˆ๋‹ค.
02:51
where people want to take inspiration from animals
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์‚ฌ๋žŒ๋“ค์€ ๋™๋ฌผ์— ์ฐฉ์•ˆํ•ด์„œ
02:54
to make robots to go outdoors,
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์‹ค์™ธ์—์„œ ์‚ฌ์šฉํ•  ์ˆ˜ ์žˆ๋Š” ๋กœ๋ด‡์„ ๋งŒ๋“œ๋Š” ์—ฐ๊ตฌ๋ฅผ ํ•˜๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.
02:56
like service robots or search and rescue robots
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์˜ˆ๋ฅผ ๋“ค์–ด ์„œ๋น„์Šค ๋กœ๋ด‡์ด๋‚˜ ์ˆ˜์ƒ‰ ๋ฐ ๊ตฌ์กฐ ๋กœ๋ด‡,
02:59
or field robots.
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์•ผ์™ธ์šฉ ๋กœ๋ด‡ ๋“ฑ์ด ์žˆ์Šต๋‹ˆ๋‹ค.
03:00
And the big goal here is to take inspiration from animals
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์ด ๋ถ„์•ผ์˜ ํฐ ๋ชฉํ‘œ๋Š” ๋™๋ฌผ์— ์ฐฉ์•ˆํ•ด์„œ
03:03
to make robots that can handle complex terrain --
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๋ณต์žกํ•œ ์ง€ํ˜•์— ๋Œ€์ฒ˜ํ•  ์ˆ˜ ์žˆ๋Š” ๋กœ๋ด‡์„ ๋งŒ๋“œ๋Š” ๊ฒƒ์ž…๋‹ˆ๋‹ค.
03:05
stairs, mountains, forests,
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๊ณ„๋‹จ์ด๋‚˜ ์‚ฐ, ์ˆฒ ๋“ฑ์ด์š”.
03:07
places where robots still have difficulties
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๊ธฐ์กด์˜ ๋กœ๋ด‡๋“ค์ด ์ž˜ ๋Œ€์ฒ˜ํ•˜์ง€ ๋ชปํ•˜์ง€๋งŒ
03:09
and where animals can do a much better job.
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๋™๋ฌผ๋“ค์€ ํ›จ์”ฌ ์ž˜ ๋Œ€์ฒ˜ํ•  ์ˆ˜ ์žˆ๋Š” ์žฅ์†Œ๋“ค์ž…๋‹ˆ๋‹ค.
03:11
The robot can be a wonderful scientific tool as well.
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๋˜ํ•œ ๋กœ๋ด‡์€ ํ›Œ๋ฅญํ•œ ๊ณผํ•™์  ๋„๊ตฌ๊ฐ€ ๋  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
03:14
There are some very nice projects where robots are used,
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๋กœ๋ด‡์ด ์‚ฌ์šฉ๋˜๋Š” ๋ฉ‹์ง„ ํ”„๋กœ์ ํŠธ๊ฐ€ ๋ช‡ ๊ฐ€์ง€ ์žˆ๋Š”๋ฐ
03:16
like a scientific tool for neuroscience, for biomechanics or for hydrodynamics.
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์‹ ๊ฒฝ๊ณผํ•™์ด๋‚˜ ์ƒ์ฒด์—ญํ•™, ์œ ์ฒด์—ญํ•™ ๋“ฑ์— ๊ณผํ•™์  ๋„๊ตฌ๋กœ ์ด์šฉํ•  ์ˆ˜ ์žˆ์ฃ .
03:20
And this is exactly the purpose of Pleurobot.
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๊ทธ๋ฆฌ๊ณ  ๊ทธ๊ฒƒ์ด ๋ฐ”๋กœ ํ”Œ๋กœ๋กœ๋ด‡์˜ ๋ชฉ์ ์ž…๋‹ˆ๋‹ค.
03:23
So what we do in my lab is to collaborate with neurobiologists
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์—ฐ๊ตฌ์‹ค์—์„œ ์ €ํฌ๊ฐ€ ํ•˜๋Š” ์ผ์€ ํ”„๋ž‘์Šค ๋ณด๋ฅด๋„์˜ ์ง„-๋งˆ๋ฆฌ ์นด๋ฒจ๊ฒ ๊ฐ™์€
03:26
like Jean-Marie Cabelguen, a neurobiologist in Bordeaux in France,
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์‹ ๊ฒฝ๊ณผํ•™์ž๋“ค๊ณผ ํ˜‘๋ ฅํ•ด์„œ
03:29
and we want to make spinal cord models and validate them on robots.
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์ฒ™์ˆ˜์— ๋Œ€ํ•œ ๋ชจ๋ธ์„ ๋งŒ๋“ค๊ณ  ์ด๋ฅผ ๋กœ๋ด‡์„ ํ†ตํ•ด ์ž…์ฆํ•˜๋Š” ๊ฒƒ์ž…๋‹ˆ๋‹ค.
03:34
And here we want to start simple.
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์ €ํฌ๋Š” ๊ฐ„๋‹จํ•œ ๊ฒƒ์—์„œ ์‹œ์ž‘ํ•˜๊ณ ์ž ํ–ˆ์Šต๋‹ˆ๋‹ค.
03:36
So it's good to start with simple animals
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๋งค์šฐ ์›์‹œ์ ์ธ ๋ฌผ๊ณ ๊ธฐ์ธ ์น ์„ฑ์žฅ์–ด ๋“ฑ
03:38
like lampreys, which are very primitive fish,
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๋‹จ์ˆœํ•œ ๋™๋ฌผ์—์„œ ์‹œ์ž‘ํ•˜๋Š” ๊ฒƒ์ด ์ข‹์ฃ .
03:40
and then gradually go toward more complex locomotion,
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๊ทธ๋ฆฌ๊ณ  ์ ์ฐจ ๋ณด๋‹ค ๋ณต์žกํ•œ ์šด๋™,
03:42
like in salamanders,
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๋„๋กฑ๋‡ฝ์˜ ๋ณดํ–‰์ด๋‚˜
03:44
but also in cats and in humans,
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๊ณ ์–‘์ด์™€ ์‚ฌ๋žŒ ๋“ฑ ํฌ์œ ๋ฅ˜์˜ ๋ณดํ–‰ ๋“ฑ์œผ๋กœ ๋ฐœ์ „์‹œํ‚ค๋Š” ๊ฒ๋‹ˆ๋‹ค.
03:45
in mammals.
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03:47
And here, a robot becomes an interesting tool
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์—ฌ๊ธฐ์„œ ๋กœ๋ด‡์€ ์ €ํฌ ๋ชจ๋ธ์„ ์ž…์ฆํ•˜๊ธฐ ์œ„ํ•œ
03:50
to validate our models.
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ํฅ๋ฏธ๋กœ์šด ๋„๊ตฌ๊ฐ€ ๋  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
03:52
And in fact, for me, Pleurobot is a kind of dream becoming true.
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์‹ค์€ ์ €์—๊ฒŒ ํ”Œ๋กœ๋กœ๋ด‡์€ ๊ฟˆ์„ ์‹คํ˜„์‹œํ‚จ ๊ฒƒ์ด๊ธฐ๋„ ํ•ฉ๋‹ˆ๋‹ค.
03:55
Like, more or less 20 years ago I was already working on a computer
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๊ทธ๋Ÿฌ๋‹ˆ๊นŒ, 20๋…„๋„ ๋” ์ „๋ถ€ํ„ฐ ์ €๋Š” ์ปดํ“จํ„ฐ๋ฅผ ์ด์šฉํ•ด์„œ
03:58
making simulations of lamprey and salamander locomotion
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์น ์„ฑ์žฅ์–ด์™€ ๋„๋กฑ๋‡ฝ์˜ ์›€์ง์ž„์„ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ํ•˜๋Š” ์—ฐ๊ตฌ๋ฅผ ํ•˜๊ณ  ์žˆ์—ˆ์Šต๋‹ˆ๋‹ค.
04:01
during my PhD.
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๊ทธ๋•Œ๋Š” ๋ฐ•์‚ฌ ๊ณผ์ • ์ค‘์ด์—ˆ์ฃ .
04:02
But I always knew that my simulations were just approximations.
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ํ•˜์ง€๋งŒ ์ €๋Š” ์ €์˜ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์ด ๋‹จ์ง€ ๊ทผ์‚ฌ์ผ ๋ฟ์ž„์„ ์•Œ๊ณ ์žˆ์—ˆ์Šต๋‹ˆ๋‹ค.
04:06
Like, simulating the physics in water or with mud or with complex ground,
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์˜ˆ๋ฅผ ๋“ค์–ด ๋ฌผ์ด๋‚˜ ์ง„ํ™, ๋ณต์žกํ•œ ์ง€ํ‘œ๋ฉด์— ๋Œ€ํ•œ ๋ฌผ๋ฆฌ ์‹œ๋ฎฌ๋ ˆ์ด์…˜์€
04:10
it's very hard to simulate that properly on a computer.
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์ปดํ“จํ„ฐ์— ๋ฐ”๋ฅด๊ฒŒ ๊ตฌํ˜„ํ•˜๊ธฐ๊ฐ€ ๋งค์šฐ ์–ด๋ ต์Šต๋‹ˆ๋‹ค.
04:12
Why not have a real robot and real physics?
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๊ทธ๋ ‡๋‹ค๋ฉด ์‹ค์ œ ๋กœ๋ด‡๊ณผ ์‹ค์ œ ๋ฌผ๋ฆฌํ•™์„ ์‚ฌ์šฉํ•˜๋ฉด ๋˜์ง€ ์•Š์„๊นŒ์š”?
04:15
So among all these animals, one of my favorites is the salamander.
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์—ฌ๋Ÿฌ ๋™๋ฌผ ์ค‘์—์„œ ์ œ๊ฐ€ ์ข‹์•„ํ•˜๋Š” ๋™๋ฌผ ํ•˜๋‚˜๊ฐ€ ๋„๋กฑ๋‡ฝ์ž…๋‹ˆ๋‹ค.
04:18
You might ask why, and it's because as an amphibian,
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์™œ์ธ์ง€ ๊ถ๊ธˆํ•˜์‹ค ํ…๋ฐ์š”, ๊ทธ ์ด์œ ๋Š” ๋„๋กฑ๋‡ฝ์ด ์†ํ•œ ์–‘์„œ๋ฅ˜๊ฐ€
04:22
it's a really key animal from an evolutionary point of view.
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์ง„ํ™”์˜ ๊ด€์ ์—์„œ ๋งค์šฐ ํ•ต์‹ฌ์ ์ธ ์œ„์น˜๋ฅผ ์ฐจ์ง€ํ•˜๊ธฐ ๋•Œ๋ฌธ์ž…๋‹ˆ๋‹ค.
์ด๋“ค์€ ํ›Œ๋ฅญํ•œ ์—ฐ๊ฒฐ ๊ณ ๋ฆฌ๊ฐ€ ๋˜์–ด ์ค๋‹ˆ๋‹ค.
04:25
It makes a wonderful link between swimming,
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๋ฑ€์žฅ์–ด๋‚˜ ๋ฌผ๊ณ ๊ธฐ๊ฐ€ ๋ฌผ์—์„œ ํ—ค์—„์น˜๋Š” ๊ฒƒ๊ณผ
04:27
as you find it in eels or fish,
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๊ณ ์–‘์ด๋‚˜ ์‚ฌ๋žŒ ๋“ฑ ํฌ์œ ๋ฅ˜๊ฐ€ ์‚ฌ์กฑ ๋ณดํ–‰ํ•˜๋Š” ๊ฒƒ ์‚ฌ์ด์˜ ์—ฐ๊ฒฐ ๊ณ ๋ฆฌ์ฃ .
04:29
and quadruped locomotion, as you see in mammals, in cats and humans.
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04:34
And in fact, the modern salamander
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์‹ค์ œ๋กœ ํ˜„ ์‹œ๋Œ€์˜ ๋„๋กฑ๋‡ฝ์€
04:35
is very close to the first terrestrial vertebrate,
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์ตœ์ดˆ๋กœ ์œก์ง€์— ๋‚˜์™”๋˜ ์ฒ™์ถ” ๋™๋ฌผ๊ณผ ๋งค์šฐ ์œ ์‚ฌํ•ฉ๋‹ˆ๋‹ค.
์‚ด์•„์žˆ๋Š” ํ™”์„์ด๋ผ๊ณ  ํ•  ์ˆ˜ ์žˆ์„ ์ •๋„์ฃ .
04:38
so it's almost a living fossil,
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04:39
which gives us access to our ancestor,
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์šฐ๋ฆฌ์˜ ์กฐ์ƒ, ์œก์ง€์— ์‚ฌ๋Š” ๋ชจ๋“  ์‚ฌ์กฑ ๋™๋ฌผ๋“ค์˜
04:41
the ancestor to all terrestrial tetrapods.
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์กฐ์ƒ์— ์ด๋ฅด๋Š” ๊ธธ์„ ๋ณด์—ฌ์ค๋‹ˆ๋‹ค.
04:45
So the salamander swims
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๋„๋กฑ๋‡ฝ์ด ํ—ค์—„์น˜๋Š” ๋ฐฉ๋ฒ•์€
04:46
by doing what's called an anguilliform swimming gait,
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๋ฑ€์žฅ์–ด ํ˜•ํƒœ์˜ ํ—ค์—„์ด๋ผ ๋ถˆ๋ฆฝ๋‹ˆ๋‹ค.
๋จธ๋ฆฌ์—์„œ ๊ผฌ๋ฆฌ์— ์ด๋ฅด๋Š” ๊ทผ์œก์ด ์ง„ํ–‰ํ•˜๋Š” ํŒŒ๋™์ฒ˜๋Ÿผ ํ™œ์„ฑํ™”๋ฉ๋‹ˆ๋‹ค.
04:49
so they propagate a nice traveling wave of muscle activity from head to tail.
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04:53
And if you place the salamander on the ground,
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๋„๋กฑ๋‡ฝ์„ ๋•…์— ๋‚ด๋ ค๋†“์œผ๋ฉด
04:55
it switches to what's called a walking trot gait.
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๋น ๋ฅธ ๊ฑธ์Œ์œผ๋กœ ๊ฑท๋Š” ํ˜•ํƒœ์˜ ๋ณดํ–‰์œผ๋กœ ๋ฐ”๋€๋‹ˆ๋‹ค.
์ด ๊ฒฝ์šฐ ๋„๋กฑ๋‡ฝ์˜ ๋‹ค๋ฆฌ๋Š” ์•„์ฃผ ์ฃผ๊ธฐ์ ์œผ๋กœ ์šด๋™ํ•˜๋Š”๋ฐ
04:58
In this case, you have nice periodic activation of the limbs
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05:00
which are very nicely coordinated
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์ด ์šด๋™์ด ๋งค์šฐ ์ž˜ ์กฐ์ •๋˜๊ณ  ์žˆ์œผ๋ฉฐ,
05:02
with this standing wave undulation of the body,
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๋ชธ์€ ์ •์ƒํŒŒ ํ˜•ํƒœ์˜ ํŒŒ๋™์„ ๊ทธ๋ฆฌ๋Š” ๊ฒƒ์„ ์•Œ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
05:05
and that's exactly the gait that you are seeing here on Pleurobot.
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ํ”Œ๋กœ๋กœ๋ด‡์— ๊ตฌํ˜„๋œ ๋ณดํ–‰๊ณผ ๊ฐ™์ฃ .
05:08
Now, one thing which is very surprising and fascinating in fact
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๋ฌด์ฒ™ ๋†€๋ผ์šฐ๋ฉด์„œ ํฅ๋ฏธ๋กœ์šด ์‚ฌ์‹ค ํ•˜๋‚˜๋Š”
05:11
is the fact that all this can be generated just by the spinal cord and the body.
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์ด ๋ชจ๋“  ์›€์ง์ž„์ด ๋‹จ์ง€ ์ฒ™์ˆ˜์™€ ๋ชธ๋งŒ์œผ๋กœ ๊ฐ€๋Šฅํ•˜๋‹ค๋Š” ์ ์ž…๋‹ˆ๋‹ค.
๋งŒ์•ฝ ๋„๋กฑ๋‡ฝ์˜ ๋Œ€๋‡Œ๋ฅผ ์ œ๊ฑฐํ•œ๋‹ค๋ฉด
05:16
So if you take a decerebrated salamander --
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05:18
it's not so nice but you remove the head --
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- ๋ชป๋œ ์ผ์ด์ง€๋งŒ, ๋„๋กฑ๋‡ฝ์˜ ๋จธ๋ฆฌ๋ฅผ ์ œ๊ฑฐํ•˜๋ฉด ๋ง์ž…๋‹ˆ๋‹ค -
์ฒ™์ˆ˜์— ์ „๊ธฐ ์ž๊ทน์„ ์ฃผ์—ˆ์„ ๋•Œ
05:20
and if you electrically stimulate the spinal cord,
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05:22
at low level of stimulation this will induce a walking-like gait.
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์ž๊ทน์ด ๋‚ฎ์„ ๋•Œ๋Š” ๊ฑท๋Š” ๋™์ž‘์„ ์œ ๋ฐœํ•˜๊ฒŒ ๋˜๊ณ ,
์กฐ๊ธˆ ๋” ๊ฐ•ํ•˜๊ฒŒ ์ž๊ทนํ•˜๋ฉด ๊ฐ€์† ๋ณดํ–‰์„ ์œ ๋ฐœํ•ฉ๋‹ˆ๋‹ค.
05:26
If you stimulate a bit more, the gait accelerates.
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05:28
And at some point, there's a threshold,
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์–ด๋Š ์ˆœ๊ฐ„, ๊ธฐ์ค€์ด ๋˜๋Š” ์ ์„ ์ง€๋‚˜๋ฉด
05:30
and automatically, the animal switches to swimming.
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์ž๋™์ ์œผ๋กœ ์ด ๋™๋ฌผ์€ ํ—ค์—„์„ ์น˜๊ธฐ ์‹œ์ž‘ํ•ฉ๋‹ˆ๋‹ค.
05:33
This is amazing.
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์ •๋ง ๋†€๋ผ์šด ์ผ์ž…๋‹ˆ๋‹ค.
05:34
Just changing the global drive,
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๊ทธ์ € ์ „์ฒด์ ์ธ ๊ตฌ๋™์„ ๋ฐ”๊ฟˆ์œผ๋กœ์จ,
05:35
as if you are pressing the gas pedal
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๊ทธ๋Ÿฌ๋‹ˆ๊นŒ ๋งˆ์น˜ ๊ฐ€์† ํŽ˜๋‹ฌ์„ ๋ฐŸ๋“ฏ
05:37
of descending modulation to your spinal cord,
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์ฒ™์ˆ˜๋กœ ๋‚ด๋ ค๊ฐ€๋Š” ๋ช…๋ น์„ ๋ฐ”๊พธ๊ธฐ๋งŒ ํ•˜๋ฉด
05:39
makes a complete switch between two very different gaits.
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์„œ๋กœ ๊ต‰์žฅํžˆ ๋‹ค๋ฅธ ๋‘ ๊ฐ€์ง€ ์›€์ง์ž„์„ ์˜ค๊ฐˆ ์ˆ˜ ์žˆ๋‹ค๋Š” ๋œป์ž…๋‹ˆ๋‹ค.
05:44
And in fact, the same has been observed in cats.
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์‚ฌ์‹ค, ๊ฐ™์€ ํ˜„์ƒ์€ ๊ณ ์–‘์ด์—๊ฒŒ์„œ๋„ ๋ฐœ๊ฒฌ๋ฉ๋‹ˆ๋‹ค.
05:47
If you stimulate the spinal cord of a cat,
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๊ณ ์–‘์ด์˜ ์ฒ™์ˆ˜๋ฅผ ์ž๊ทนํ•˜๋ฉด
๊ฑท๋Š” ๋™์ž‘, ๊ฐ€๋ณ๊ฒŒ ๋›ฐ๋Š” ๋™์ž‘, ์ „์†๋ ฅ ๋‹ฌ๋ฆฌ๊ธฐ ์‚ฌ์ด์—์„œ ์ „ํ™˜ํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
05:49
you can switch between walk, trot and gallop.
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05:51
Or in birds, you can make a bird switch between walking,
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ํ˜น์€ ์ƒˆ์—๊ฒŒ์„œ, ๋‚ฎ์€ ์ •๋„์˜ ์ž๊ทน์„ ์ฃผ๋ฉด
05:54
at a low level of stimulation,
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๊ฑท๋„๋ก ํ•  ์ˆ˜ ์žˆ๊ณ ,
05:55
and flapping its wings at high-level stimulation.
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๋†’์€ ์ •๋„์˜ ์ž๊ทน์—์„œ๋Š” ๋‚ ๊ฐœ๋ฅผ ์น˜๊ฒŒ ํ•  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
05:58
And this really shows that the spinal cord
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์ด ๋ชจ๋“  ๊ฒƒ์„ ํ†ตํ•ด์„œ ์ฒ™์ˆ˜๊ฐ€
06:00
is a very sophisticated locomotion controller.
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๋งค์šฐ ์ •๊ตํ•œ ๋ณดํ–‰ ์ œ์–ด๊ธฐ์ž„์„ ์•Œ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
06:02
So we studied salamander locomotion in more detail,
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๊ทธ๋ž˜์„œ ์ €ํฌ๋Š” ๋„๋กฑ๋‡ฝ์˜ ๋ณดํ–‰์„ ๋” ์ž์„ธํžˆ ์—ฐ๊ตฌํ–ˆ์Šต๋‹ˆ๋‹ค.
06:05
and we had in fact access to a very nice X-ray video machine
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์ €ํฌ๋Š” ์ž˜ ๋งŒ๋“ค์–ด์ง„ ์—‘์Šค๋ ˆ์ด ์˜์ƒ ์žฅ๋น„๋ฅผ ์‚ฌ์šฉํ•  ์ˆ˜ ์žˆ์—ˆ์Šต๋‹ˆ๋‹ค.
06:08
from Professor Martin Fischer in Jena University in Germany.
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๋…์ผ ์˜ˆ๋‚˜ ๋Œ€ํ•™์˜ ๋งˆํ‹ด ํ”ผ์…” ๊ต์ˆ˜๋‹˜์˜ ๋„์›€์„ ๋ฐ›์•˜์Šต๋‹ˆ๋‹ค.
๋•๋ถ„์— ๊ทธ ์žฅ์น˜๋ฅผ ์ด์šฉํ•ด์„œ
06:12
And thanks to that, you really have an amazing machine
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๋ผˆ์˜ ์›€์ง์ž„์„ ๋งค์šฐ ์ƒ์„ธํ•˜๊ฒŒ ๊ธฐ๋กํ•  ์ˆ˜ ์žˆ์—ˆ์Šต๋‹ˆ๋‹ค.
06:14
to record all the bone motion in great detail.
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06:17
That's what we did.
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์ €ํฌ๋Š” ์ด๋ฅผ ํ†ตํ•ด
06:18
So we basically figured out which bones are important for us
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์–ด๋–ค ๋ผˆ๊ฐ€ ์ €ํฌ์—๊ฒŒ ์ค‘์š”ํ•œ์ง€๋ฅผ ์•Œ์•„๋‚ผ ์ˆ˜ ์žˆ์—ˆ๊ณ 
06:21
and collected their motion in 3D.
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์ด ๋ผˆ๋“ค์˜ 3์ฐจ์› ์›€์ง์ž„ ์ •๋ณด๋ฅผ ์ˆ˜์ง‘ํ•  ์ˆ˜ ์žˆ์—ˆ์Šต๋‹ˆ๋‹ค.
06:24
And what we did is collect a whole database of motions,
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์ €ํฌ๋Š” ๋ชจ๋“  ๋™์ž‘์— ๋Œ€ํ•œ ์ •๋ณด๋ฅผ ์ˆ˜์ง‘ํ•ด ๋ฐ์ดํ„ฐ ๋ฒ ์ด์Šค๋ฅผ ๋งŒ๋“ค์—ˆ์Šต๋‹ˆ๋‹ค.
06:27
both on ground and in water,
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๋•… ์œ„์—์„œ์™€ ๋ฌผ ์†์—์„œ ๋ชจ๋‘์š”.
06:29
to really collect a whole database of motor behaviors
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์‹ค์ œ ๋™๋ฌผ์ด ํ•  ์ˆ˜ ์žˆ๋Š” ๋ชจ๋“  ํ–‰๋™์— ๋Œ€ํ•œ ์šด๋™ ์ •๋ณด๋ฅผ
06:31
that a real animal can do.
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์ˆ˜์ง‘ํ•˜๊ณ ์ž ํ–ˆ์Šต๋‹ˆ๋‹ค.
06:32
And then our job as roboticists was to replicate that in our robot.
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๊ทธ ๋‹ค์Œ ์ €ํฌ๋Š” ๋กœ๋ด‡ ๊ณตํ•™์ž๋กœ์„œ ์ €ํฌ ๋กœ๋ด‡์— ๊ทธ๊ฒƒ์„ ๋ชจ์‚ฌํ–ˆ์Šต๋‹ˆ๋‹ค.
์•Œ๋งž์€ ๊ตฌ์กฐ๋ฅผ ์•Œ์•„๋‚ด๊ธฐ ์œ„ํ•ด ์—ฌ๋Ÿฌ ์ตœ์ ํ™” ๊ณผ์ •์„ ๊ฑฐ์ณค์Šต๋‹ˆ๋‹ค.
06:36
So we did a whole optimization process to find out the right structure,
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06:39
where to place the motors, how to connect them together,
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๋ชจํ„ฐ๋Š” ์–ด๋””์— ๋‘˜ ๊ฒƒ์ธ์ง€, ๊ฐ ๋ถ€๋ถ„์„ ์–ด๋–ป๊ฒŒ ์ฒด๊ฒฐํ•  ๊ฒƒ์ธ์ง€ ๋“ฑ์„ ๊ฒฐ์ •ํ–ˆ์ฃ .
์‹ค์ œ ์›€์ง์ž„์„ ๊ฐ€๋Šฅํ•œ ์ž˜ ์žฌํ˜„ํ•˜๋Š” ๊ฒƒ์„ ๋ชฉํ‘œ๋กœ ํ–ˆ์Šต๋‹ˆ๋‹ค.
06:42
to be able to replay these motions as well as possible.
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06:45
And this is how Pleurobot came to life.
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์ด๊ฒƒ์ด ํ”Œ๋กœ๋กœ๋ด‡์„ ๋งŒ๋“  ๊ณผ์ •์ž…๋‹ˆ๋‹ค.
๊ทธ๋Ÿฌ๋ฉด ์ด์ œ ์ด ๋กœ๋ด‡์ด ์–ผ๋งˆ๋‚˜ ์‹ค์ œ ๋™๋ฌผ๊ณผ ํก์‚ฌํ•œ์ง€๋ฅผ ๋ณด๊ฒ ์Šต๋‹ˆ๋‹ค.
06:49
So let's look at how close it is to the real animal.
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06:52
So what you see here is almost a direct comparison
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์—ฌ๋Ÿฌ๋ถ„์ด ๋ณด์‹œ๋Š”๊ฒƒ์€ ์‹ค์ œ ๋™๋ฌผ๊ณผ ํ”Œ๋กœ๋กœ๋ด‡์˜ ๋ณดํ–‰์„
06:55
between the walking of the real animal and the Pleurobot.
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๊ฑฐ์˜ ์ง์ ‘์ ์œผ๋กœ ๋น„๊ตํ•œ ๊ฒƒ์ž…๋‹ˆ๋‹ค.
๊ฑฐ์˜ ์ผ๋Œ€์ผ๋กœ ์ƒ์‘ํ•˜๋Š” ์ •ํ™•ํ•œ ๋ณดํ–‰ ๋ชจ์‚ฌ๊ฐ€ ์ด๋ฃจ์–ด์ง„ ๊ฒƒ์„
06:58
You can see that we have almost a one-to-one exact replay
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07:00
of the walking gait.
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ํ™•์ธํ•˜์‹ค ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
07:02
If you go backwards and slowly, you see it even better.
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๋˜๊ฐ๊ธฐํ•ด์„œ ์ฒœ์ฒœํžˆ ๋ณด์‹œ๋ฉด ๋” ์ž˜ ๋ณด์‹ค ์ˆ˜ ์žˆ์ฃ .
07:07
But even better, we can do swimming.
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๋”์šฑ์ด, ์ด ๋กœ๋ด‡์€ ํ—ค์—„๋„ ์น  ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
07:09
So for that we have a dry suit that we put all over the robot --
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๊ทธ๋ž˜์„œ ์ €ํฌ๋Š” ๋ฐฉ์ˆ˜๋ณต์„ ๋งŒ๋“ค์–ด์„œ ๋กœ๋ด‡์— ๋’ค์ง‘์–ด์”Œ์› ์Šต๋‹ˆ๋‹ค.
07:12
(Laughter)
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(์›ƒ์Œ)
๋ฐฉ์ˆ˜๋ณต์„ ์ž…ํžŒ ์ฑ„ ๋ฌผ์— ๋„ฃ์œผ๋ฉด ํ—ค์—„์„ ์žฌํ˜„ํ•ด๋ณผ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
07:14
and then we can go in water and start replaying the swimming gaits.
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07:17
And here, we were very happy, because this is difficult to do.
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๋งค์šฐ ์–ด๋ ค์šด ์ผ์„ ํ•ด๋‚ธ ๊ฒƒ์ด์–ด์„œ ์ €ํฌ๋Š” ์ •๋ง๋กœ ๊ธฐ์˜๊ฒŒ ์ƒ๊ฐํ•ฉ๋‹ˆ๋‹ค.
07:20
The physics of interaction are complex.
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๋ฌผ์ฒด์™€ ์ฃผ๋ณ€ ์‚ฌ์ด์˜ ์ƒํ˜ธ ์ž‘์šฉ์— ์—ฐ๊ด€๋œ ๋ฌผ๋ฆฌํ•™์€ ๋งค์šฐ ๋ณต์žกํ•ฉ๋‹ˆ๋‹ค.
07:22
Our robot is much bigger than a small animal,
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์ž‘์€ ๋™๋ฌผ์— ๋น„ํ•ด์„œ ์ €ํฌ ๋กœ๋ด‡์ด ๊ฝค ํฌ๊ธฐ ๋•Œ๋ฌธ์—
07:25
so we had to do what's called dynamic scaling of the frequencies
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๋™์  ์ฃผํŒŒ์ˆ˜ ์กฐ์ •์ด๋ผ๋Š” ๊ณผ์ •์„ ํ†ตํ•˜์—ฌ
07:28
to make sure we had the same interaction physics.
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์ƒํ˜ธ ์ž‘์šฉ์˜ ๋ฌผ๋ฆฌ์  ํŠน์„ฑ์ด ๋™์ผํ•˜๋„๋ก ํ–ˆ์Šต๋‹ˆ๋‹ค.
07:30
But you see at the end, we have a very close match,
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๋ณด์‹œ๋‹ค์‹œํ”ผ ๋๋‚ด๋Š” ์•„์ฃผ ๊ทผ์ ‘ํ•œ ๋Œ€์‘ ๊ด€๊ณ„๋ฅผ ๋งŒ๋“ค์–ด๋‚ผ ์ˆ˜ ์žˆ์—ˆ์Šต๋‹ˆ๋‹ค.
07:33
and we were very, very happy with this.
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์ด์— ๋Œ€ํ•ด ๋งค์šฐ ๊ธฐ๋ปค์ฃ .
07:35
So let's go to the spinal cord.
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๊ทธ๋Ÿผ ์ด์ œ ์ฒ™์ˆ˜์— ๋Œ€ํ•ด ์•Œ์•„๋ณด๊ฒ ์Šต๋‹ˆ๋‹ค.
07:37
So here what we did with Jean-Marie Cabelguen
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์ €ํฌ๊ฐ€ ์ง„-๋งˆ๋ฆฌ ์นด๋ฒจ๊ฒ๊ณผ ํ•จ๊ป˜ ํ•œ ๊ฒƒ์€
07:40
is model the spinal cord circuits.
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์ฒ™์ˆ˜์˜ ํšŒ๋กœ๋ฅผ ๋ชจ๋ธ๋งํ•˜๋Š” ์—ฐ๊ตฌ์˜€์Šต๋‹ˆ๋‹ค.
07:43
And what's interesting is that the salamander
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ํฅ๋ฏธ๋กœ์šด ์ ์€ ๋„๋กฑ๋‡ฝ์ด
07:45
has kept a very primitive circuit,
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์—ฌ์ „ํžˆ ๋งค์šฐ ์›์‹œ์ ์ธ ํšŒ๋กœ๋ฅผ ์œ ์ง€ํ•˜๊ณ  ์žˆ๋‹ค๋Š” ์ ์ž…๋‹ˆ๋‹ค.
07:46
which is very similar to the one we find in the lamprey,
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์žฅ์–ด ์ข…๋ฅ˜์˜ ์›์‹œ ๋ฌผ๊ณ ๊ธฐ์ธ
07:49
this primitive eel-like fish,
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์น ์„ฑ ์žฅ์–ด์™€ ํก์‚ฌํ•œ ํšŒ๋กœ์ฃ .
07:51
and it looks like during evolution,
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๊ทธ๋ฆฌ๊ณ  ์ง„ํ™” ๊ณผ์ •์—์„œ
07:53
new neural oscillators have been added to control the limbs,
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๋ณดํ–‰์„ ์œ„ํ•ด ๋‹ค๋ฆฌ๋ฅผ ์ œ์–ดํ•˜๋Š”
์ƒˆ๋กœ์šด ์‹ ๊ฒฝ ์ง„๋™์ž๊ฐ€ ์ถ”๊ฐ€๋œ ๊ฒƒ์œผ๋กœ ๋ณด์ž…๋‹ˆ๋‹ค.
07:56
to do the leg locomotion.
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07:57
And we know where these neural oscillators are
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์ด๋Ÿฌํ•œ ์‹ ๊ฒฝ ์ง„๋™์ž๊ฐ€ ์žˆ๋‹ค๋Š” ๊ฒƒ์€ ์ด๋ฏธ ์•Œ๋ ค์ ธ์žˆ์ง€๋งŒ
07:59
but what we did was to make a mathematical model
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์ €ํฌ๊ฐ€ ํ•œ ์ผ์€ ์ˆ˜ํ•™์  ๋ชจ๋ธ์„ ๋งŒ๋“ค์–ด์„œ
์ด๋“ค์ด ์–ด๋–ป๊ฒŒ ๊ฒฐํ•ฉ๋˜์–ด์•ผ ๋‘ ๊ฐ€์ง€ ๋งค์šฐ ๋‹ค๋ฅธ ์›€์ง์ž„์ด
08:02
to see how they should be coupled
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08:03
to allow this transition between the two very different gaits.
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์„œ๋กœ ์ „ํ™˜๋  ์ˆ˜ ์žˆ๋Š”์ง€๋ฅผ ์•Œ์•„๋‚ด๋Š” ๊ฒƒ์ด์—ˆ์Šต๋‹ˆ๋‹ค.
08:06
And we tested that on board of a robot.
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์ €ํฌ๋Š” ๋กœ๋ด‡์„ ์ด์šฉํ•ด ๋ชจ๋ธ์„ ๊ฒ€์ฆํ–ˆ์Šต๋‹ˆ๋‹ค.
08:09
And this is how it looks.
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์ €ํฌ๊ฐ€ ๋งŒ๋“  ๋กœ๋ด‡์€ ์ด์™€ ๊ฐ™์Šต๋‹ˆ๋‹ค.
08:18
So what you see here is a previous version of Pleurobot
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์ง€๊ธˆ ๋ณด์‹œ๋Š” ๊ฒƒ์€ ํ”Œ๋กœ๋กœ๋ด‡์˜ ์˜ˆ์ „ ๋ฒ„์ „์ž…๋‹ˆ๋‹ค.
08:21
that's completely controlled by our spinal cord model
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๋กœ๋ด‡ ๋ณด๋“œ์— ํ”„๋กœ๊ทธ๋žจ๋œ ์ €ํฌ์˜ ์ฒ™์ˆ˜ ๋ชจ๋ธ์— ์˜ํ•ด์„œ
08:25
programmed on board of the robot.
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์™„์ „ํžˆ ์ œ์–ด๋˜๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.
08:27
And the only thing we do
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์ €ํฌ๊ฐ€ ํ•œ ๊ฒƒ์€ ๋‹ค๋งŒ
08:28
is send to the robot through a remote control
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์›๊ฒฉ ์กฐ์ข…์„ ํ†ตํ•ด ๋กœ๋ด‡์—๊ฒŒ
08:30
the two descending signals it normally should receive
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๋‘ ๊ฐ€์ง€ ์‹ ํ˜ธ๋ฅผ ๋ณด๋‚ธ ๊ฒƒ์ž…๋‹ˆ๋‹ค.
์›๋ž˜๋ผ๋ฉด ๋‡Œ์˜ ์ƒ์œ„ ๋ถ€๋ถ„์—์„œ ๋‚ด๋ ค์™”์„ ์‹ ํ˜ธ์ฃ .
08:33
from the upper part of the brain.
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08:35
And what's interesting is, by playing with these signals,
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ํฅ๋ฏธ๋กœ์šด ์ ์€, ์ด๋Ÿฌํ•œ ์‹ ํ˜ธ๋ฅผ ์ด์šฉํ•ด์„œ
๋ณดํ–‰์˜ ์†๋„, ๋ฐฉํ–ฅ, ์ข…๋ฅ˜๋ฅผ ๋ชจ๋‘ ์ œ์–ดํ•  ์ˆ˜ ์žˆ๋‹ค๋Š” ์ ์ž…๋‹ˆ๋‹ค.
08:38
we can completely control speed, heading and type of gait.
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08:41
For instance,
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์˜ˆ๋ฅผ ๋“ค์–ด
08:42
when we stimulate at a low level, we have the walking gait,
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๋‚ฎ์€ ์ •๋„์˜ ์ž๊ทน์„ ๊ฐ€ํ•˜๋ฉด ๋ณดํ–‰์ด ๋‚˜ํƒ€๋‚ฉ๋‹ˆ๋‹ค.
08:46
and at some point, if we stimulate a lot,
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์–ด๋Š ์ˆœ๊ฐ„ ์ž๊ทน์„ ์ฆ๊ฐ€์‹œํ‚ค๋‹ค ๋ณด๋ฉด
08:48
very rapidly it switches to the swimming gait.
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๋กœ๋ด‡์€ ํ—ค์—„์น˜๋Š” ๋™์ž‘์œผ๋กœ ๋น ๋ฅด๊ฒŒ ์›€์ง์ž„์„ ์ „ํ™˜ํ•ฉ๋‹ˆ๋‹ค.
08:51
And finally, we can also do turning very nicely
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๋˜ํ•œ ๋ฐฉํ–ฅ ์ „ํ™˜๋„ ์ž˜ ํ•  ์ˆ˜ ์žˆ๋Š”๋ฐ
08:53
by just stimulating more one side of the spinal cord than the other.
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์ด๋ฅผ ์œ„ํ•ด ์ฒ™์ˆ˜์˜ ํ•œ์ชฝ์„ ๋‹ค๋ฅธ ์ชฝ๋ณด๋‹ค ๋” ์ž๊ทนํ•˜๊ธฐ๋งŒ ํ•˜๋ฉด ๋ฉ๋‹ˆ๋‹ค.
08:58
And I think it's really beautiful
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์ž์—ฐ์ด ์–ด๋–ป๊ฒŒ ๋ชธ์˜ ์ œ์–ด๋ฅผ ๋ถ„์‚ฐํ–ˆ๋Š”์ง€๋ฅผ ์ƒ๊ฐํ•˜๋ฉด
08:59
how nature has distributed control
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๋ชน์‹œ ์•„๋ฆ„๋‹ต๋‹ค๋Š” ์ƒ๊ฐ์ด ๋“ญ๋‹ˆ๋‹ค.
09:02
to really give a lot of responsibility to the spinal cord
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์ œ์–ด๋ฅผ ๋ถ„์‚ฐํ•ด์„œ ์ฒ™์ˆ˜๊ฐ€ ๋งŽ์€ ์—ญํ• ์„ ๋งก๋„๋ก ํ•˜๊ณ ,
๋”ฐ๋ผ์„œ ๋‡Œ์˜ ์ƒ์œ„ ๋ถ€๋ถ„์ด ๊ทผ์œก ํ•˜๋‚˜ํ•˜๋‚˜์— ์‹ ๊ฒฝ์“ธ ํ•„์š”๊ฐ€ ์—†๊ฒŒ ๋ฉ๋‹ˆ๋‹ค.
09:05
so that the upper part of the brain doesn't need to worry about every muscle.
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09:08
It just has to worry about this high-level modulation,
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๊ณ ์ฐจ์›์ ์ธ ์กฐ์ •๋งŒ์„ ์‹ ๊ฒฝ์“ฐ๋ฉด ๋˜๊ณ ,
๋ชจ๋“  ๊ทผ์œก์„ ์กฐ์ •ํ•˜๋Š” ๊ฒƒ์€ ์ฒ™์ˆ˜์˜ ์—ญํ• ์ด ๋ฉ๋‹ˆ๋‹ค.
09:11
and it's really the job of the spinal cord to coordinate all the muscles.
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09:14
So now let's go to cat locomotion and the importance of biomechanics.
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์ด์ œ ๊ณ ์–‘์ด์˜ ๋ณดํ–‰๊ณผ ์ƒ์ฒด ์—ญํ•™์˜ ์ค‘์š”์„ฑ์— ๋Œ€ํ•ด ์‚ดํŽด๋ณด๊ฒ ์Šต๋‹ˆ๋‹ค.
๋‹ค๋ฅธ ํ”„๋กœ์ ํŠธ๋ฅผ ์†Œ๊ฐœํ•ด ๋“œ๋ฆฌ๊ฒ ์Šต๋‹ˆ๋‹ค.
09:19
So this is another project
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09:20
where we studied cat biomechanics,
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๊ณ ์–‘์ด์˜ ์ƒ์ฒด ์—ญํ•™์„ ์—ฐ๊ตฌํ•ด์„œ
09:22
and we wanted to see how much the morphology helps locomotion.
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ํ˜•ํƒœํ•™์ด ๋ณดํ–‰์— ์–ผ๋งˆ๋‚˜ ๋„์›€์„ ์ฃผ๋Š”์ง€ ์•Œ์•„๋ณด๋ ค๋Š” ์—ฐ๊ตฌ์ž…๋‹ˆ๋‹ค.
09:26
And we found three important criteria in the properties,
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์ €ํฌ๋Š” ๋‹ค๋ฆฌ์— ๊ด€ํ•œ
์„ธ ๊ฐ€์ง€ ์ค‘์š”ํ•œ ํŠน์„ฑ์„ ์ฐพ์•„๋ƒˆ์Šต๋‹ˆ๋‹ค.
09:30
basically, of the limbs.
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09:32
The first one is that a cat limb
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์ฒซ ๋ฒˆ์งธ๋Š” ๊ณ ์–‘์ด์˜ ๋‹ค๋ฆฌ๊ฐ€
09:34
more or less looks like a pantograph-like structure.
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๊ฑฐ์˜ ํŒฌํ„ฐ๊ทธ๋ž˜ํ”„์™€ ํก์‚ฌํ•œ ๊ตฌ์กฐ๋ฅผ ๊ฐ€์ง„๋‹ค๋Š” ์ ์ž…๋‹ˆ๋‹ค.
09:37
So a pantograph is a mechanical structure
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ํŒฌํ„ฐ๊ทธ๋ž˜ํ”„๋Š” ๊ธฐ๊ณ„์  ๊ตฌ์กฐ๋กœ,
09:39
which keeps the upper segment and the lower segments always parallel.
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์œ„์ชฝ ๋ถ„์ ˆ๊ณผ ์•„๋ž˜์ชฝ ๋ถ„์ ˆ์ด ํ•ญ์ƒ ํ‰ํ–‰ํ•˜๊ฒŒ ์œ ์ง€๋ฉ๋‹ˆ๋‹ค.
09:43
So a simple geometrical system that kind of coordinates a bit
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๊ทธ๋Ÿฌ๋‹ˆ๊นŒ ๊ฐ ๋ถ„์ ˆ์˜ ๋‚ด๋ถ€ ์›€์ง์ž„์„
์ž˜ ์กฐ์ ˆํ•ด ์ฃผ๋Š” ๊ฐ„๋‹จํ•œ ๊ธฐํ•˜ํ•™์  ์‹œ์Šคํ…œ์ž…๋‹ˆ๋‹ค.
09:46
the internal movement of the segments.
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09:48
A second property of cat limbs is that they are very lightweight.
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๊ณ ์–‘์ด ๋‹ค๋ฆฌ์˜ ๋‘ ๋ฒˆ์งธ ํŠน์„ฑ์€ ๋งค์šฐ ๊ฐ€๋ณ๋‹ค๋Š” ์ ์ž…๋‹ˆ๋‹ค.
09:51
Most of the muscles are in the trunk,
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๋Œ€๋ถ€๋ถ„์˜ ๊ทผ์œก์€ ๋ชธํ†ต์— ์žˆ๋Š”๋ฐ,
09:53
which is a good idea, because then the limbs have low inertia
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๋‹ค๋ฆฌ์˜ ๊ด€์„ฑ์„ ์ค„์ž„์œผ๋กœ์จ ๋น ๋ฅด๊ฒŒ ์›€์ง์ผ ์ˆ˜ ์žˆ๋‹ค๋Š” ์ ์—์„œ
09:56
and can be moved very rapidly.
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ํ›Œ๋ฅญํ•œ ๊ตฌ์กฐ์ž…๋‹ˆ๋‹ค.
09:58
The last final important property is this very elastic behavior of the cat limb,
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๋งˆ์ง€๋ง‰ ์ค‘์š”ํ•œ ํŠน์„ฑ์€ ๊ณ ์–‘์ด ๋‹ค๋ฆฌ๊ฐ€ ๋งค์šฐ ํƒ„์„ฑ ์žˆ๋Š” ํŠน์„ฑ์ด ์žˆ์–ด์„œ
10:02
so to handle impacts and forces.
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์ถฉ๊ฒฉ๊ณผ ํž˜์— ๋Œ€์ฒ˜ํ•  ์ˆ˜ ์žˆ๋‹ค๋Š” ์ ์ž…๋‹ˆ๋‹ค.
10:04
And this is how we designed Cheetah-Cub.
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์ด ๋ฐฉ๋ฒ•์œผ๋กœ ์ €ํฌ๋Š” ์น˜ํƒ€-์ปค๋ธŒ๋ฅผ ์„ค๊ณ„ํ–ˆ์Šต๋‹ˆ๋‹ค.
์น˜ํƒ€-์ปค๋ธŒ๋ฅผ ๋ฌด๋Œ€๋กœ ๋ถˆ๋Ÿฌ ๋ด…์‹œ๋‹ค.
10:07
So let's invite Cheetah-Cub onstage.
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10:14
So this is Peter Eckert, who does his PhD on this robot,
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์ด ํ•™์ƒ์€ ์ด ๋กœ๋ด‡์œผ๋กœ ๋ฐ•์‚ฌ ์—ฐ๊ตฌ๋ฅผ ํ•˜๊ณ  ์žˆ๋Š” ํ”ผํ„ฐ ์—์ผ€๋ฅดํŠธ์ž…๋‹ˆ๋‹ค.
10:17
and as you see, it's a cute little robot.
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๋ณด์‹œ๋‹ค์‹œํ”ผ ๊ท€์—ฝ๊ณ  ์ž‘์€ ๋กœ๋ด‡์ž…๋‹ˆ๋‹ค.
10:19
It looks a bit like a toy,
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๊ผญ ์žฅ๋‚œ๊ฐ ๊ฐ™์•„ ๋ณด์ด๊ธฐ๋„ ํ•˜์ง€๋งŒ
10:21
but it was really used as a scientific tool
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์‹ค์ œ๋กœ ๊ณผํ•™์  ๋„๊ตฌ๋กœ์จ
10:23
to investigate these properties of the legs of the cat.
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๊ณ ์–‘์ด ๋‹ค๋ฆฌ์˜ ์›€์ง์ž„์„ ์—ฐ๊ตฌํ•˜๋Š” ๋ฐ์— ์‚ฌ์šฉ๋˜์—ˆ์Šต๋‹ˆ๋‹ค.
10:26
So you see, it's very compliant, very lightweight,
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๋ณด์‹œ๋‹ค์‹œํ”ผ ์œ ์—ฐํ•˜๊ณ  ๊ฐ€๋ฒผ์šฐ๋ฉฐ ํƒ„์„ฑ์ด ๊ฐ•ํ•ฉ๋‹ˆ๋‹ค.
10:29
and also very elastic,
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10:30
so you can easily press it down and it will not break.
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๊ทธ๋ž˜์„œ ์‰ฝ๊ฒŒ ๋ˆ„๋ฅผ ์ˆ˜ ์žˆ์ง€๋งŒ ๋ง๊ฐ€์ง€์ง€ ์•Š์Šต๋‹ˆ๋‹ค.
10:33
It will just jump, in fact.
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์‚ฌ์‹ค์€ ๊ทธ์ € ๋›ฐ์–ด์˜ค๋ฅด์ฃ .
10:34
And this very elastic property is also very important.
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์ด๋Ÿฐ ๊ฐ•ํ•œ ํƒ„์„ฑ์€ ๋งค์šฐ ์ค‘์š”ํ•œ ํŠน์„ฑ์ž…๋‹ˆ๋‹ค.
10:39
And you also see a bit these properties
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๊ทธ๋ฆฌ๊ณ  ๋‹ค๋ฆฌ์˜ ์„ธ ๋ถ„์ ˆ์ด ํŒฌํ„ฐ๊ทธ๋ž˜ํ”„ ์—ญํ• ์„ ํ•˜๋Š”
10:41
of these three segments of the leg as pantograph.
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ํŠน์„ฑ๋„ ํ™•์ธํ•˜์‹ค ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
10:44
Now, what's interesting is that this quite dynamic gait
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์—ฌ๊ธฐ์„œ ํฅ๋ฏธ๋กœ์šด ์ ์€, ์ด ๋กœ๋ด‡์˜ ๊ฝค ์—ญ๋™์ ์ธ ๋ณดํ–‰์ด
10:47
is obtained purely in open loop,
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๊ฐœํšŒ๋กœ๋ฅผ ํ†ตํ•ด ์ œ์–ด๋œ๋‹ค๋Š” ์‚ฌ์‹ค์ž…๋‹ˆ๋‹ค.
10:49
meaning no sensors, no complex feedback loops.
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์„ผ์„œ ์—†์ด, ๋ณต์žกํ•œ ํ”ผ๋“œ๋ฐฑ ํšŒ๋กœ ์—†์ด ์ œ์–ด๊ฐ€ ์ด๋ฃจ์–ด์ง„๋‹ค๋Š” ๋œป์ž…๋‹ˆ๋‹ค.
10:52
And that's interesting, because it means
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์ด ์ ์ด ํฅ๋ฏธ๋กœ์šด๋ฐ, ๊ธฐ๊ตฌํ•™์  ๊ตฌ์กฐ๋งŒ์œผ๋กœ
10:54
that just the mechanics already stabilized this quite rapid gait,
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๊ฝค ๋น ๋ฅธ ๋ณดํ–‰์—์„œ์˜ ์•ˆ์ •์„ฑ์„ ํ™•๋ณดํ•  ์ˆ˜ ์žˆ๋‹ค๋Š” ๋œป์ด๊ธฐ ๋•Œ๋ฌธ์ž…๋‹ˆ๋‹ค.
10:58
and that really good mechanics already basically simplify locomotion.
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๊ทธ๋ฆฌ๊ณ  ๊ทธ๋Ÿฌํ•œ ๊ตฌ์กฐ๊ฐ€ ์ด๋ฏธ ๋ณดํ–‰์„ ๋‹จ์ˆœํ™”ํ•˜๊ณ  ์žˆ๋‹ค๋Š” ๋œป์ž…๋‹ˆ๋‹ค.
11:02
To the extent that we can even disturb a bit locomotion,
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์‹ฌ์ง€์–ด ๋ณดํ–‰์— ์•ฝ๊ฐ„์˜ ์™ธ๋ž€์„ ๊ฐ€ํ•  ์ˆ˜๋„ ์žˆ์Šต๋‹ˆ๋‹ค.
11:06
as you will see in the next video,
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๋‹ค์Œ ์˜์ƒ์—์„œ ๋ณด์‹ค ํ…๋ฐ,
11:07
where we can for instance do some exercise where we have the robot go down a step,
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์˜ˆ๋ฅผ ๋“ค์–ด ํ„ฑ์„ ๋‚ด๋ ค๊ฐ€๋Š” ๋กœ๋ด‡์˜ ์˜ˆ์‹œ๋ฅผ ๋ณผ ์ˆ˜ ์žˆ์Šต๋‹ˆ๋‹ค.
11:11
and the robot will not fall over,
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์ด ์ƒํ™ฉ์—์„œ ๋กœ๋ด‡์ด ๋„˜์–ด์ง€์ง€ ์•Š๋Š”๋ฐ,
11:13
which was a surprise for us.
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์ €ํฌ์—๊ฒŒ๋Š” ๋†€๋ผ์šด ๊ฒฐ๊ณผ์˜€์ฃ .
ํ‰์ง€ ๋ณดํ–‰๊ณผ ๋น„๊ตํ•˜๋ฉด ์ž‘์€ ์ฐจ์ด์ง€๋งŒ
11:15
This is a small perturbation.
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11:16
I was expecting the robot to immediately fall over,
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์ €๋Š” ๋กœ๋ด‡์ด ์ฆ‰์‹œ ๊ท ํ˜•์„ ์žƒ์„ ๊ฒƒ์ด๋ผ๊ณ  ์˜ˆ์ƒํ–ˆ์Šต๋‹ˆ๋‹ค.
11:18
because there are no sensors, no fast feedback loop.
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์™œ๋ƒํ•˜๋ฉด ์„ผ์„œ๋„ ์—†๊ณ  ๋น ๋ฅธ ํ”ผ๋“œ๋ฐฑ ํšŒ๋กœ๋„ ์—†๋Š” ๋กœ๋ด‡์ด๋‹ˆ๊นŒ์š”.
ํ•˜์ง€๋งŒ ์•„๋‹ˆ์—ˆ์Šต๋‹ˆ๋‹ค. ๊ธฐ๊ตฌํ•™์  ๊ตฌ์กฐ๋งŒ์œผ๋กœ ์•ˆ์ •๋œ ๋ณดํ–‰์„ ์–ป์—ˆ๊ณ 
11:21
But no, just the mechanics stabilized the gait,
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11:23
and the robot doesn't fall over.
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๋กœ๋ด‡์€ ๊ท ํ˜•์„ ์žƒ์ง€ ์•Š์•˜์Šต๋‹ˆ๋‹ค.
11:25
Obviously, if you make the step bigger, and if you have obstacles,
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๋ฌผ๋ก  ํ„ฑ์ด ๋” ์ปค์ง€๊ฑฐ๋‚˜ ์žฅ์• ๋ฌผ์ด ์žˆ๋‹ค๋ฉด
11:28
you need the full control loops and reflexes and everything.
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์™„์ „ํ•œ ์ œ์–ด ํšŒ๋กœ์™€ ๋ฐ˜์‚ฌ ๋ฐ˜์‘ ๋“ฑ ๋ชจ๋“  ๊ฒƒ์ด ์žˆ์–ด์•ผ ํ•ฉ๋‹ˆ๋‹ค.
11:32
But what's important here is that just for small perturbation,
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ํ•˜์ง€๋งŒ ์—ฌ๊ธฐ์„œ ์ค‘์š”ํ•œ ๊ฒƒ์€, ์ž‘์€ ๋ณ€ํ™”์— ๋Œ€ํ•ด์„œ๋Š”
11:34
the mechanics are right.
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๊ธฐ๊ตฌํ•™์  ๊ตฌ์กฐ๋งŒ์œผ๋กœ๋„ ์ถฉ๋ถ„ํžˆ ๋Œ€์ฒ˜ํ•  ์ˆ˜ ์žˆ๋‹ค๋Š” ์ ์ž…๋‹ˆ๋‹ค.
11:36
And I think this is a very important message
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์ €๋Š” ์ด๊ฒƒ์ด ์ƒ์ฒด์—ญํ•™๊ณผ ๋กœ๋ด‡๊ณตํ•™์—์„œ ์‹ ๊ฒฝ๊ณผํ•™ ๋ถ„์•ผ์— ์ „๋‹ฌํ•  ์ˆ˜ ์žˆ๋Š”
11:38
from biomechanics and robotics to neuroscience,
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์ค‘์š”ํ•œ ๋ฉ”์‹œ์ง€๋ผ๊ณ  ์ƒ๊ฐํ•ฉ๋‹ˆ๋‹ค.
11:40
saying don't underestimate to what extent the body already helps locomotion.
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๋ชธ ์ž์ฒด๊ฐ€ ๋ณดํ–‰์— ์–ผ๋งˆ๋‚˜ ํฐ ์—ญํ• ์„ ํ•˜๋Š”์ง€ ๊ณผ์†Œํ‰๊ฐ€ํ•ด์„œ๋Š” ์•ˆ ๋œ๋‹ค๋Š” ๊ฑฐ์ฃ .
11:47
Now, how does this relate to human locomotion?
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๊ทธ๋ ‡๋‹ค๋ฉด ์ด๊ฒƒ์ด ์‚ฌ๋žŒ์˜ ๋ณดํ–‰๊ณผ๋Š” ์–ด๋–ค ๊ด€๊ณ„๊ฐ€ ์žˆ์„๊นŒ์š”?
11:49
Clearly, human locomotion is more complex than cat and salamander locomotion,
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์‚ฌ๋žŒ์˜ ๋ณดํ–‰์€ ๋ช…๋ฐฑํžˆ ๊ณ ์–‘์ด๋‚˜ ๋„๋กฑ๋‡ฝ์˜ ๋ณดํ–‰๋ณด๋‹ค ๋ณต์žกํ•ฉ๋‹ˆ๋‹ค.
11:54
but at the same time, the nervous system of humans is very similar
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ํ•˜์ง€๋งŒ ๋™์‹œ์—, ์‚ฌ๋žŒ์˜ ์‹ ๊ฒฝ๊ณ„๋Š”
๋‹ค๋ฅธ ์ฒ™์ถ” ๋™๋ฌผ์˜ ์‹ ๊ฒฝ๊ณ„์™€ ๋งค์šฐ ์œ ์‚ฌํ•ฉ๋‹ˆ๋‹ค.
11:57
to that of other vertebrates.
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11:59
And especially the spinal cord
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ํŠนํžˆ ์ฒ™์ˆ˜๋Š”
12:00
is also the key controller for locomotion in humans.
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์‚ฌ๋žŒ์˜ ๋ณดํ–‰์—์„œ๋„ ์ฃผ์š”ํ•œ ์ œ์–ด๊ธฐ์ž…๋‹ˆ๋‹ค.
12:03
That's why, if there's a lesion of the spinal cord,
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๊ทธ๊ฒƒ์ด ๋ฐ”๋กœ ์ฒ™์ˆ˜์— ์†์ƒ์ด ์žˆ์„ ๋•Œ
12:06
this has dramatic effects.
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์‹ฌ๊ฐํ•œ ๊ฒฐ๊ณผ๊ฐ€ ๋‚˜ํƒ€๋‚˜๋Š” ์ด์œ ์ž…๋‹ˆ๋‹ค.
12:07
The person can become paraplegic or tetraplegic.
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์ฒ™์ˆ˜์— ์†์ƒ์„ ์ž…์€ ์‚ฌ๋žŒ์€ ํ•˜๋ฐ˜์‹ ์ด๋‚˜ ์‚ฌ์ง€ ๋งˆ๋น„ ์ฆ์ƒ์„ ๊ฒช์„ ์ˆ˜๋„ ์žˆ์Šต๋‹ˆ๋‹ค.
12:10
This is because the brain loses this communication
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์ด๊ฒƒ์€ ๋‡Œ๊ฐ€ ์ฒ™์ˆ˜์™€ ์„œ๋กœ ์‹ ํ˜ธ๋ฅผ
์ „๋‹ฌํ•  ์ˆ˜ ์—†๊ฒŒ ๋˜์—ˆ๊ธฐ ๋•Œ๋ฌธ์ž…๋‹ˆ๋‹ค.
12:12
with the spinal cord.
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ํŠนํžˆ, ๋ณดํ–‰์„ ์‹œ์ž‘ํ•˜๊ณ  ์กฐ์ •ํ•˜๊ฒŒ ํ•˜๋Š” ์‹ ํ˜ธ๋ฅผ
12:14
Especially, it loses this descending modulation
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12:16
to initiate and modulate locomotion.
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๋‡Œ์—์„œ ์ „๋‹ฌํ•  ์ˆ˜ ์—†๊ฒŒ ๋ฉ๋‹ˆ๋‹ค.
12:19
So a big goal of neuroprosthetics
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๊ทธ๋ž˜์„œ ์‹ ๊ฒฝ ๊ณผํ•™์˜ ํฐ ๋ชฉํ‘œ ์ค‘ ํ•˜๋‚˜๋Š”
12:21
is to be able to reactivate that communication
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์ „๊ธฐ์ ์ด๋‚˜ ํ™”ํ•™์  ์ž๊ทน์„ ํ†ตํ•˜์—ฌ
12:23
using electrical or chemical stimulations.
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์ด๋Ÿฌํ•œ ์‹ ํ˜ธ๋ฅผ ๋‹ค์‹œ ์ฃผ๊ณ ๋ฐ›์„ ์ˆ˜ ์žˆ๋„๋ก ํ•˜๋Š” ๊ฒ๋‹ˆ๋‹ค.
12:26
And there are several teams in the world that do exactly that,
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์„ธ๊ณ„์—๋Š” ๋ฐ”๋กœ ๊ทธ ์—ฐ๊ตฌ๋ฅผ ์ง„ํ–‰ํ•˜๊ณ  ์žˆ๋Š” ํŒ€์ด ๋ช‡ ์žˆ๊ณ 
12:29
especially at EPFL.
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ํŠนํžˆ ๋กœ์ž” ๊ณต๊ณผ๋Œ€ํ•™์—์„œ๋Š”
์ €์™€ ๊ณต๋™ ์—ฐ๊ตฌ๋ฅผ ํ•˜๊ณ  ์žˆ๋Š” ๋™๋ฃŒ ๊ทธ๋ ˆ๊ทธ์™€๋ฅด ์ฟ ๋ฅดํ‹ด๊ณผ
12:31
My colleagues Grรฉgoire Courtine and Silvestro Micera,
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์‹ค๋ฒ ์ŠคํŠธ๋กœ ๋ฏธ์„ธ๋ผ๊ฐ€ ์—ฐ๊ตฌํ•˜๊ณ  ์žˆ์Šต๋‹ˆ๋‹ค.
12:33
with whom I collaborate.
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12:35
But to do this properly, it's very important to understand
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ํ•˜์ง€๋งŒ ์ด ์ผ์„ ์ œ๋Œ€๋กœ ํ•ด๋‚ด๊ธฐ ์œ„ํ•ด์„œ๋Š”
์ฒ™์ˆ˜๊ฐ€ ์–ด๋–ป๊ฒŒ ๊ธฐ๋Šฅํ•˜๋Š”์ง€,
12:39
how the spinal cord works,
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12:40
how it interacts with the body,
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๋ชธ๊ณผ๋Š” ์–ด๋–ป๊ฒŒ ์ƒํ˜ธ์ž‘์šฉํ•˜๋Š”์ง€,
12:42
and how the brain communicates with the spinal cord.
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๋‡Œ๋Š” ์–ด๋–ป๊ฒŒ ์ฒ™์ˆ˜์™€ ์‹ ํ˜ธ๋ฅผ ์ฃผ๊ณ ๋ฐ›๋Š”์ง€ ๋“ฑ์— ๊ด€ํ•˜์—ฌ ์ž˜ ์ดํ•ดํ•ด์•ผ ํ•ฉ๋‹ˆ๋‹ค.
12:45
This is where the robots and models that I've presented today
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์ด ์ ์ด ์˜ค๋Š˜ ์ œ๊ฐ€ ๋ง์”€๋“œ๋ฆฐ ๋กœ๋ด‡๊ณผ ๋ชจ๋ธ์ด
12:48
will hopefully play a key role
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๊ทธ๋Ÿฌํ•œ ์ค‘์š”ํ•œ ๋ชฉํ‘œ๋ฅผ ํ–ฅํ•ด ๊ฐ€๋Š” ๋ฐ์—
12:50
towards these very important goals.
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์ค‘์š”ํ•œ ์—ญํ• ์„ ํ•˜๋ฆฌ๋ผ๊ณ  ๊ธฐ๋Œ€๋˜๋Š” ๋ถ€๋ถ„์ž…๋‹ˆ๋‹ค.
12:53
Thank you.
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๊ฐ์‚ฌํ•ฉ๋‹ˆ๋‹ค.
12:54
(Applause)
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(๋ฐ•์ˆ˜)
๋ธŒ๋ฃจ๋…ธ ๊ธฐ์‚ฌ๋‹ˆ: ์•„์šฐ์ผ€, ๋‹น์‹ ์˜ ์—ฐ๊ตฌ์‹ค์—์„œ ๋งŒ๋“  ๋‹ค๋ฅธ ๋กœ๋ด‡์„ ๋ดค๋Š”๋ฐ
13:04
Bruno Giussani: Auke, I've seen in your lab other robots
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13:06
that do things like swim in pollution
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์˜ค์—ผ๋œ ๋ฌผ์—์„œ ํ—ค์—„์น˜๋ฉด์„œ
13:09
and measure the pollution while they swim.
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์˜ค์—ผ์˜ ์ •๋„๋ฅผ ์ธก์ •ํ•˜๋”๊ตฐ์š”.
13:11
But for this one,
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๊ทธ๋Ÿฐ๋ฐ ์ด ๋กœ๋ด‡์— ๋Œ€ํ•ด์„œ๋Š”,
13:12
you mentioned in your talk, like a side project,
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์•„๊นŒ ๊ฐ•์—ฐ์—์„œ ๋ถ€์ฐจ์ ์ธ ํ”„๋กœ์ ํŠธ๋กœ
์ˆ˜์ƒ‰๊ณผ ๊ตฌ์กฐ์— ๋Œ€ํ•ด ์–ธ๊ธ‰ํ•˜์…จ์ฃ .
13:17
search and rescue,
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13:18
and it does have a camera on its nose.
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๊ทธ๋ฆฌ๊ณ  ์ด ๋กœ๋ด‡์€ ์ฝ”์— ์นด๋ฉ”๋ผ๊ฐ€ ๋‹ฌ๋ ค์žˆ๋„ค์š”.
์•„์šฐ์ผ€ ์ด์ŠคํŽ˜์—๋ฅดํŠธ: ๋งž์Šต๋‹ˆ๋‹ค. ๊ทธ๋Ÿฌ๋‹ˆ๊นŒ ์ด ๋กœ๋ด‡๊ณผ ๊ด€๋ จํ•ด
13:21
Auke Ijspeert: Absolutely. So the robot --
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13:23
We have some spin-off projects
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์ผ์ข…์˜ ํŒŒ์ƒ ํ”„๋กœ์ ํŠธ๊ฐ€ ์žˆ๋Š”๋ฐ,
์ด ๋กœ๋ด‡์„ ์ด์šฉํ•ด ํƒ์ƒ‰๊ณผ ๊ตฌ์กฐ, ์กฐ์‚ฌ ์ž‘์—…์„ ํ•˜๋ ค๋Š” ํ”„๋กœ์ ํŠธ์ž…๋‹ˆ๋‹ค.
13:25
where we would like to use the robots to do search and rescue inspection,
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์ง€๊ธˆ ๋กœ๋ด‡์ด ์—ฌ๋Ÿฌ๋ถ„์„ ๋ณด๊ณ  ์žˆ์ฃ .
13:28
so this robot is now seeing you.
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ํฐ ๋ชฉํ‘œ๋กœ๋Š”, ๋งŒ์•ฝ ๋ˆ„๊ตฐ๊ฐ€ ์–ด๋ ค์šด ์ƒํ™ฉ์— ์ฒ˜ํ•ด์žˆ๋‹ค๋ฉด
13:30
And the big dream is to, if you have a difficult situation
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13:33
like a collapsed building or a building that is flooded,
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๊ทธ๋Ÿฌ๋‹ˆ๊นŒ ์˜ˆ๋ฅผ ๋“ค์–ด ๋ฌด๋„ˆ์ง€๊ฑฐ๋‚˜ ๋ฌผ์— ์ž ๊ธด ๊ฑด๋ฌผ์— ์žˆ๋‹ค๊ณ  ํ•˜๋ฉด
13:36
and this is very dangerous for a rescue team or even rescue dogs,
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๊ตฌ์กฐ ํŒ€์ด๋‚˜ ๊ตฌ์กฐ๊ฒฌ์—๊ฒŒ๋„ ๋ชน์‹œ ์œ„ํ—˜ํ•œ ์ƒํ™ฉ์ด๊ฑฐ๋“ ์š”.
13:40
why not send in a robot that can crawl around, swim, walk,
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๊ทธ๋ ‡๋‹ค๋ฉด ๊ธฐ์–ด๊ฐ€๊ณ  ํ—ค์—„์น˜๋ฉฐ, ๊ฑธ์„ ์ˆ˜ ์žˆ๋Š” ๋กœ๋ด‡์„ ๋ณด๋‚ด์„œ
13:43
with a camera onboard to do inspection and identify survivors
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์žฅ์ฐฉ๋œ ์นด๋ฉ”๋ผ๋กœ ์ƒํ™ฉ์„ ์‚ดํŽด๋ณด๊ณ  ์ƒ์กด์ž๋ฅผ ์‹๋ณ„ํ•  ์ˆ˜๋„ ์žˆ์ง€ ์•Š์„๊นŒ์š”?
13:46
and possibly create a communication link with the survivor.
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๊ทธ๋ฆฌ๊ณ  ์–ด์ฉŒ๋ฉด ์ƒ์กด์ž์™€ ํ†ต์‹ ํ•  ์ˆ˜๋„ ์žˆ๊ฒ ์ฃ .
๋ธŒ๋ฃจ๋…ธ: ๋ฌผ๋ก ์ž…๋‹ˆ๋‹ค. ์ƒ์กด์ž๊ฐ€ ๋กœ๋ด‡์˜ ๋ชจ์–‘์ƒˆ์— ๊ฒ๋จน์ง€๋งŒ ์•Š๋Š”๋‹ค๋ฉด์š”.
13:49
BG: Of course, assuming the survivors don't get scared by the shape of this.
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13:52
AI: Yeah, we should probably change the appearance quite a bit,
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์•„์šฐ์ผ€: ๋„ค, ์•„๋งˆ๋„ ๋ชจ์–‘์„ ์กฐ๊ธˆ ๋ฐ”๊พธ๋Š” ๊ฒƒ์ด ์ข‹์„ ๊ฒƒ ๊ฐ™์Šต๋‹ˆ๋‹ค.
13:56
because here I guess a survivor might die of a heart attack
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์ด ๋กœ๋ด‡์ด ์ž์‹ ์„ ์žก์•„๋จน์„๊นŒ๋ด ๊ฒ์„ ๋จน์€ ์ƒ์กด์ž๊ฐ€
13:59
just of being worried that this would feed on you.
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์‹ฌ์žฅ ๋งˆ๋น„๋กœ ์ฃฝ์„ ์ˆ˜๋„ ์žˆ์œผ๋‹ˆ๊นŒ์š”
14:01
But by changing the appearance and it making it more robust,
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ํ•˜์ง€๋งŒ ๋ชจ์–‘์„ ์กฐ๊ธˆ ๋ฐ”๊พธ๊ณ  ๋” ๊ฒฌ๊ณ ํ•˜๊ฒŒ ๋งŒ๋“ ๋‹ค๋ฉด
14:04
I'm sure we can make a good tool out of it.
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์ด๋ฅผ ํ›Œ๋ฅญํ•˜๊ฒŒ ์‚ฌ์šฉํ•  ์ˆ˜ ์žˆ์„ ๊ฒƒ์ด๋ผ๊ณ  ํ™•์‹ ํ•ฉ๋‹ˆ๋‹ค.
14:06
BG: Thank you very much. Thank you and your team.
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๋ธŒ๋ฃจ๋…ธ: ๊ฐ์‚ฌํ•ฉ๋‹ˆ๋‹ค. ๊ต์ˆ˜๋‹˜๊ณผ ํŒ€ ๋ชจ๋‘์—๊ฒŒ ๊ฐ์‚ฌ๋“œ๋ฆฝ๋‹ˆ๋‹ค.
์ด ์›น์‚ฌ์ดํŠธ ์ •๋ณด

์ด ์‚ฌ์ดํŠธ๋Š” ์˜์–ด ํ•™์Šต์— ์œ ์šฉํ•œ YouTube ๋™์˜์ƒ์„ ์†Œ๊ฐœํ•ฉ๋‹ˆ๋‹ค. ์ „ ์„ธ๊ณ„ ์ตœ๊ณ ์˜ ์„ ์ƒ๋‹˜๋“ค์ด ๊ฐ€๋ฅด์น˜๋Š” ์˜์–ด ์ˆ˜์—…์„ ๋ณด๊ฒŒ ๋  ๊ฒƒ์ž…๋‹ˆ๋‹ค. ๊ฐ ๋™์˜์ƒ ํŽ˜์ด์ง€์— ํ‘œ์‹œ๋˜๋Š” ์˜์–ด ์ž๋ง‰์„ ๋”๋ธ” ํด๋ฆญํ•˜๋ฉด ๊ทธ๊ณณ์—์„œ ๋™์˜์ƒ์ด ์žฌ์ƒ๋ฉ๋‹ˆ๋‹ค. ๋น„๋””์˜ค ์žฌ์ƒ์— ๋งž์ถฐ ์ž๋ง‰์ด ์Šคํฌ๋กค๋ฉ๋‹ˆ๋‹ค. ์˜๊ฒฌ์ด๋‚˜ ์š”์ฒญ์ด ์žˆ๋Š” ๊ฒฝ์šฐ ์ด ๋ฌธ์˜ ์–‘์‹์„ ์‚ฌ์šฉํ•˜์—ฌ ๋ฌธ์˜ํ•˜์‹ญ์‹œ์˜ค.

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