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

翻译人员: 芷蘅 张 校对人员: Conway Ye

(Laughter)

（笑声）

(Laughter)

（笑声）

That's SpotMini.

这是SpotMini，

He'll be back in a little while.

它过一会儿还会回来。

I --

我——

(Applause)

（掌声）

I love building robots.

我喜欢建造机器人。

And my long-term goal is to build robots

我远期的目标是发明

that can do what people and animals do.

可以像人类和动物一样行动的机器人。

And there's three things in particular

我们尤其感兴趣的

that we're interested in.

有3个方面，

One is balance and dynamic mobility,

其一是平衡和动态运动，

the second one is mobile manipulation,

其二是移动操控，

and the third one is mobile perception.

其三是移动感知。

So, dynamic mobility and balance --

首先，关于动态运动和平衡——

I'm going to do a demo for you.

我来做个演示。

I'm standing here, balancing.

我站在这里。保持着平衡。

I can see you're not very impressed. OK, how about now?

我知道你们并没有 觉得很惊讶，那现在呢？

(Laughter)

（笑声）

这次呢？

How about now?

(Applause)

（鼓掌）

Those simple capabilities mean that people can go almost anywhere on earth,

这些简单的能力使得 我们可以走到世界各个角落，

on any kind of terrain.

无论哪种地形。

We want to capture that for robots.

我们也希望机器人可以这样。

What about manipulation?

那么，操控能力呢？

I'm holding this clicker in my hand;

我手里拿着点击器，

I'm not even looking at it,

我都不用看，

and I can manipulate it without any problem.

就可以轻而易举地操控它。

But even more important,

但更重要的是，

I can move my body while I hold the manipulator, the clicker,

我可以在拿着操控器的 时候随意变换姿势，

and stabilize and coordinate my body,

我的身体还是很稳定，保持协调，

and I can even walk around.

我还能随意走动。

And that means I can move around in the world

也就是说我可以来回走，

and expand the range of my arms and my hands

即使伸开我的手臂和手，

and really be able to handle almost anything.

我也可以拿着几乎任何的东西。

So that's mobile manipulation.

这就是所谓的移动操控。

And all of you can do this.

你们都能做到。

Third is perception.

第三是感知。

I'm looking at a room with over 1,000 people in it,

我看着有1000多个人的房间，

and my amazing visual system can see every one of you --

我的视觉系统 让我可以看见你们每一个人，

you're all stable in space,

你们都静静的坐着，

even when I move my head,

即使我有时转个头，

even when I move around.

或者来回走。

That kind of mobile perception is really important for robots

这种移动感知对于 要移动和做动作的

that are going to move and act

机器人来说，

out in the world.

很重要。

I'm going to give you a little status report

我在这里要分享一个状态报告，

on where we are in developing robots toward these ends.

关于我们研究机器人的进展现状。

The first three robots are all dynamically stabilized robots.

前三种都是有动态稳固性的机器人，

This one goes back a little over 10 years ago --

这个是10年前设计的，

"BigDog."

BigDog。

It's got a gyroscope that helps stabilize it.

它有一个陀螺仪来保持稳定，

It's got sensors and a control computer.

装有传感器和控制电脑。

Here's a Cheetah robot that's running with a galloping gait,

这个是猎豹机器人， 以飞快的步伐跑动，

where it recycles its energy,

它可以重复循环利用能源，

it bounces on the ground,

在地上跳跃，

and it's computing all the time

为了能保持稳定的驱进，

in order to keep itself stabilized and propelled.

全程都是电脑操控。

And here's a bigger robot

这个更大的机器人，

that's got such good locomotion using its legs,

能够熟练使用自己的腿，

that it can go in deep snow.

在雪中行走，

This is about 10 inches deep,

这个雪大约 25 厘米厚，

and it doesn't really have any trouble.

行走完全没有问题。

This is Spot, a new generation of robot --

这个新一代机器人Spot，

just slightly older than the one that came out onstage.

就比刚才台上的那个 设计得早了一点点，

And we've been asking the question --

我们一直在问一个问题——

you've all heard about drone delivery:

你们都知道无人机递送：

Can we deliver packages to your houses with drones?

我们能用无人机送货上门吗？

Well, what about plain old legged-robot delivery?

那用有腿的普通老式 机器人送货怎么样？

(Laughter)

（笑声）

So we've been taking our robot to our employees' homes

我们把机器人带到员工的家，

to see whether we could get in --

看看是否能进去——

(Laughter)

（笑声）

the various access ways.

进门的路径五花八门。

And believe me, in the Boston area,

相信我，波士顿这一带，

there's every manner of stairway twists and turns.

有着各式各样弯曲的楼梯和转弯。

So it's a real challenge.

这真的是一个挑战。

But we're doing very well, about 70 percent of the way.

不过大约70%的路， 我们都走得很顺利。

And here's mobile manipulation,

这是移动操控，

where we've put an arm on the robot,

我们给机器人放了一个手臂，

and it's finding its way through the door.

它在找方法进门。

Now, one of the important things about making autonomous robots

不要让它们 完全按照你的指示行动，

is to make them not do just exactly what you say,

是发明自主机器人很重要的一点。

but make them deal with the uncertainty of what happens in the real world.

要让它们学会处理 真实世界里发生的不确定事件，

So we have Steve there, one of the engineers,

这是我们其中一名工程师，史蒂夫，

giving the robot a hard time.

他正在给机器人制造麻烦。

(Laughter)

（笑声）

And the fact that the programming still tolerates all that disturbance --

事实上，所编写的程序 仍然能让它抵抗干扰，

it does what it's supposed to.

做它该做的事。

Here's another example, where Eric is tugging on the robot

这是另一个例子， 艾瑞克在机器人上楼梯的时候

as it goes up the stairs.

在后面拖拽它。

And believe me,

相信我，

getting it to do what it's supposed to do in those circumstances

在这种情况下， 让它们保持原计划的行动

is a real challenge,

绝非易事，

but the result is something that's going to generalize

不过成果可以进行推广，

and make robots much more autonomous than they would be otherwise.

让机器人比之前更加自主。

This is Atlas, a humanoid robot.

这个像人的机器人是Atlas，

It's a third-generation humanoid that we've been building.

这是我们发明的第三代的机器人。

I'll tell you a little bit about the hardware design later.

待会儿我会介绍一些 硬件设计方面的事情。

And we've been saying:

我们一直在说：

How close to human levels of performance and speed could we get

在一项普通的任务中， 比如在传送带上

in an ordinary task,

移动箱子，

like moving boxes around on a conveyor?

它的性能和速度 跟人类相比还有多少差距？

We're getting up to about two-thirds of the speed that a human operates

平均来讲，我们大约可以 达到人力操纵速度的

on average.

三分之二。

And this robot is using both hands, it's using its body,

这个机器人正在使用 它的两只手和身体，

it's stepping,

同时也在行走，

so it's really an example of dynamic stability,

这是动态稳定，

mobile manipulation

移动操控，

and mobile perception.

移动感觉的很好的例子。

Here --

这里——

(Laughter)

（笑声）

We actually have two Atlases.

我们实际上有两个Atlas。

(Laughter)

（笑声）

Now, everything doesn't go exactly the way it's supposed to.

事情不一定会按照 预想的情况发生。

(Laughter)

（笑声）

(Laughter)

（笑声）

(Laughter)

（笑声）

And here's our latest robot, called "Handle."

这是我们最新的机器人，Handle，

Handle is interesting, because it's sort of half like an animal,

它很有意思，有着 像腿又像轮子的东西，

and it's half something else

因为它一半像动物，

with these leg-like things and wheels.

一半像其他的东西。

It's got its arms on in kind of a funny way,

它的手臂很有趣，

but it really does some remarkable things.

但是确实能做出些 让人惊叹的事情。

It can carry 100 pounds.

它能够承受100磅的重量。

It's probably going to lift more than that,

很有可能打算举起更重的东西，

but so far we've done 100.

不过目前我们只尝试到100。

It's got some pretty good rough-terrain capability,

它可以很好的适应地形，

even though it has wheels.

即使装有轮子。

And Handle loves to put on a show.

Handle还很喜欢表演。

(Laughter)

（笑声）

(Applause)

（鼓掌）

I'm going to give you a little bit of robot religion.

我想向你们介绍一点 机器人学的相关知识。

A lot of people think that a robot is a machine where there's a computer

很多人认为机器人就是一个

that's telling it what to do,

听从电脑指示的机器，

and the computer is listening through its sensors.

同时电脑从传感器接受信息。

But that's really only half of the story.

但这只是其中一半。

The real story is that the computer is on one side,

事实是，电脑在一端

making suggestions to the robot,

给机器人指示，

and on the other side are the physics of the world.

而另一端是物理世界。

And that physics involves gravity, friction, bouncing into things.

包括重力，摩擦力，弹力。

In order to have a successful robot,

为了研究成功的机器人，

my religion is that you have to do a holistic design,

我的观念是，必须要做好全盘设计，

where you're designing the software, the hardware and the behavior

同时要包括软件，硬件

all at one time,

和行为，

and all these parts really intermesh and cooperate with each other.

这些部分必须相互结合并且协调，

And when you get the perfect design, you get a real harmony

只有你的设计达到完美， 在各个部分相互契合的时候，

between all those parts interacting with each other.

才会实现真正的协调。

So it's half software and half hardware,

所以是50%软件和50%硬件，

plus the behavior.

再加上行为。

We've done some work lately on the hardware, where we tried to go --

最近我们在研究硬件部分， 希望能够做到——

the picture on the left is a conventional design,

图片左边是传统设计，

where you have parts that are all bolted together,

可以看到导体、管子、连接原件等等

conductors, tubes, connectors.

都被衔接在一起。

And on the right is a more integrated thing;

而右边的设计则更加集成化，

it's supposed to look like an anatomy drawing.

看起来就像解剖图像。

Using the miracle of 3-D printing,

借助神奇的3D打印，

we're starting to build parts of robots

我们可以把机器人的部件打造得

that look a lot more like the anatomy of an animal.

看起来就像动物被解剖的部位。

So that's an upper-leg part that has hydraulic pathways --

大腿部分有液压通路，

actuators, filters --

包括促进器和过滤器——

all embedded, all printed as one piece,

都是嵌入式的， 作为单一部件被打印出来，

and the whole structure is developed

这样整体结构就做成了。

with a knowledge of what the loads and behavior are going to be,

根据机器人采集的数据，

which is available from data recorded from robots

和一些模拟计算，我们可以推测出

and simulations and things like that.

它能够完成的工作量和行为。

So it's a data-driven hardware design.

所以这是数据驱动的硬件设计。

And using processes like that,

变化过程如下，

not only the upper leg but some other things,

不只是大腿，还包括其他部位，

we've gotten our robots to go from big, behemoth, bulky, slow, bad robots --

我们的机器人从最初 庞大笨拙的造型——

that one on the right, weighing almost 400 pounds --

右边那个大约400傍重——

down to the one in the middle which was just in the video,

进化到中间这个， 刚刚视频中的版本，

weighs about 190 pounds,

大约重190傍，

just a little bit more than me,

比我重一点点，

and we have a new one,

我们还有个新的机器人，

which is working but I'm not going to show it to you yet,

它可以运行，但是我 今天不会给大家演示，

on the left,

就是左边这个，

重约165傍，

which weighs just 165 pounds,

with all the same strength and capabilities.

却有着同样的力量和能力。

So these things are really getting better very quickly.

所以这些东西更新很快。

So it's time for Spot to come back out,

现在该让Spot出场了，

and we're going to demonstrate a little bit of mobility,

我们现在来演示一些运动能力，

dexterity and perception.

敏捷性和感知能力。

This is Seth Davis, who's my robot wrangler today,

这是赛斯·戴维斯， 是机器人的操纵者，

and he's giving Spot some general direction

他会通过遥控器，

by steering it around,

给Spot一些大概的指导，

but all the coordination of the legs and the sensors

但是它的腿和传感器的配合，

is done by the robot's computers on board.

是由自身配备的电脑控制。

The robot can walk with a number of different gaits;

它有很多形式的步伐，

it's got a gyro,

它有一个陀螺仪，

or a solid-state gyro,

固态的陀螺仪，

an IMU on board.

搭载有IMU。

Obviously, it's got a battery, and things like that.

很明显，它还有电池等等。

One of the cool things about a legged robot is,

有腿的机器人很酷的一点就是，

it's omnidirectional.

它能向全方位行走。

In addition to going forward, it can go sideways,

不仅可以直走，还可以横着走，

it can turn in place.

也可以原地转弯。

And this robot is a little bit of a show-off.

这个机器人挺喜欢炫耀。

It loves to use its dynamic gaits,

它喜欢用动态步伐，

like running --

比如跑步。

(Laughter)

（笑声）

And it's got one more.

还有一个。

(Laughter)

（笑声）

Now if it were really a show-off, it would be hopping on one foot,

如果它确实很喜欢炫耀， 就会展示单脚跳了，

不过还没到那种程度。

but, you know.

Now, Spot has a set of cameras here, stereo cameras,

Spot装有一系列摄像头， 立体摄像头，

and we have a feed up in the center.

这里中间有一个。

It's kind of dark out in the audience,

对着观众有点暗，

but it's going to use those cameras in order to look at the terrain

但是在它跨过它前方障碍的时候，

right in front of it,

它会利用镜头看清

while it goes over these obstacles back here.

前方的地形。

For this demo, Seth is steering,

下面这个演示，由赛斯控制，

but the robot's doing all its own terrain planning.

但是机器人会自己做地形探测，

This is a terrain map,

这是利用镜头得到实时的数据，

where the data from the cameras is being developed in real time,

制作的地形勘测地图，

showing the red spots, which are where it doesn't want to step,

红点就是它不想踩的地方，

and the green spots are the good places.

而绿点就是可行的区域。

And here it's treating them like stepping-stones.

它把这些障碍物当做垫脚石。

So it's trying to stay up on the blocks,

它会尝试待在板上，

and it adjusts its stride,

调整步伐，

and there's a ton of planning

像这样的行为

that has to go into an operation like that,

包含了许多计划步骤。

and it does all that planning in real time,

它时时刻刻都在计划着，

where it adjusts the steps a little bit longer

把步伐调整得大一点，

or a little bit shorter.

或者小一点。

Now we're going to change it into a different mode,

现在我们来换一个模式，

where it's just going to treat the blocks like terrain

让它把障碍当成地形来看，

and decide whether to step up or down

在它走路时候来决定

as it goes.

上来还是下去。

So this is using dynamic balance

这就用到了动态平衡

and mobile perception,

以及移动感知，

because it has to coordinate what it sees along with how it's moving.

因为它要根据看到的场景 来协调自己的动作。

The other thing Spot has is a robot arm.

另外，Spot还有一条机器人手臂。

Some of you may see that as a head and a neck,

你们可能觉得长得像头或者是脖子，

but believe me, it's an arm.

但是相信我，这是手臂。

Seth is driving it around.

赛斯在驱动这条手臂。

He's actually driving the hand and the body is following.

他实际上只需要操控手臂， 下面的身体会跟着运动。

So the two are coordinated in the way I was talking about before --

所以这两个相互协调， 就如我之前提到过的——

in the way people can do that.

就像人类一样。

In fact, one of the cool things Spot can do we call, "chicken-head mode,"

实际上，Spot还可以做 一件很酷的事，称为“鸡头模式”。

and it keeps its head in one place in space,

它的头保持不变，

and it moves its body all around.

只是来回移动身体。

There's a variation of this that's called "twerking" --

还有另一种模式叫“电臀”——

(Laughter)

（笑声）

but we're not going to use that today.

不过我们就不演示了。

(Laughter)

（笑声）

So, Spot: I'm feeling a little thirsty. Could you get me a soda?

Spot，我有点口渴， 能不能给我一杯饮料？

For this demo, Seth is not doing any driving.

在这个演示中，Seth不会进行操控。

We have a LIDAR on the back of the robot,

在机器人后边有LIDAR，

and it's using these props we've put on the stage

用这些我们放在台上的道具

to localize itself.

来定位自己。

It's gone over to that location.

它现在走过去了，

Now it's using a camera that's in its hand

在使用手上的摄像头

to find the cup,

来找到杯子，

picks it up --

拿起它——

and again, Seth's not driving.

别忘了，赛斯并没有进行操控。

We've planned out a path for it to go --

我们给它安排了路线，

it looked like it was going off the path --

现在看来它好像走偏了——

and now Seth's going to take over control again,

现在赛斯要恢复控制，

因为我有点不信任 让它自己完成这事。

because I'm a little bit chicken about having it do this by itself.

Thank you, Spot.

谢谢你，Spot。

(Applause)

（掌声）

So, Spot:

那么，Spot，

How do you feel about having just finished your TED performance?

完成你的TED表演感觉怎么样？

(Laughter)

（笑声）

Me, too!

我也是！

(Laughter)

（笑声）

Thank you all,

谢谢大家。

and thanks to the team at Boston Dynamics,

也感谢为这项任务付出努力的

who did all the hard work behind this.

波士顿动力公司的团队。

(Applause)

（掌声）

Helen Walters: Marc, come back in the middle.

海伦·沃特斯： 马克，能回到场地中间吗？

非常感谢。

Thank you so much.

往前站一下，我有几个问题。

Come over here, I have questions.

So, you mentioned the UPS and the package delivery.

你提到了UPS和包裹递送。

What are the other applications that you see for your robots?

你还在探索机器人的其他应用吗？

Marc Raibert: You know, I think that robots

马克·莱伯特：我认为

that have the capabilities I've been talking about

机器人将会拥有的能力

会有非常大的用途。

are going to be incredibly useful.

About a year ago, I went to Fukushima

大约一年以前，我去了福岛，

to see what the situation was there,

想看看那里的情况，

and there's just a huge need

对能够在污染地进行清理

for machines that can go into some of the dirty places

和重建工作的机器人的

and help remediate that.

需求会很大。

I think it won't be too long until we have robots like this in our homes,

我认为我们的家里 很快也会有这样的机器人，

and one of the big needs is to take care of the aging

还有就是对于照顾老人和伤残者

and invalids.

这方面也有会很大需求。

I think that it won't be too long till we're using robots

我同样认为我们依靠 机器人照顾父母

to help take care of our parents,

也不会很久了。

or probably more likely, have our children help take care of us.

更有可能的是，让孩子来照顾我们。

And there's a bunch of other things.

还有很多的事情。

I think the sky's the limit.

但我知道存在一种界线。

Many of the ideas we haven't thought of yet,

很多点子我们还没有想出来，

and people like you will help us think of new applications.

你们可以帮助我们 想一些新的应用。

HW: So what about the dark side?

沃特斯：缺点有什么呢？

What about the military?

军方呢？

Are they interested?

军方感兴趣吗？

MR: Sure, the military has been a big funder of robotics.

莱伯特：当然，军队是 自动机械的发源地。

I don't think the military is the dark side myself,

我自己并不认为军用算是坏处，

but I think, as with all advanced technology,

但是我认为先进的科技

it can be used for all kinds of things.

可以用于所有领域。

HW: Awesome. Thank you so much.

沃特斯：太棒了，谢谢你。

MR: OK, you're welcome.

莱伯特：不客气。

Thank you.

沃特斯：谢谢。

(Applause)

掌声