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

譯者: Lilian Chiu 審譯者: 易帆 余

(Laughter)

（笑聲）

(Laughter)

（笑聲）

That's SpotMini.

這是 SpotMini （迷你小花），

He'll be back in a little while.

他等等就會回來。

I --

我……

(Applause)

（掌聲）

I love building robots.

我喜歡製作機器人。

And my long-term goal is to build robots

我的長期目標，是我做出的機器人

that can do what people and animals do.

要能做到人類與動物能做到的。

And there's three things in particular

我們感興趣的事情，

that we're interested in.

主要有三項。

One is balance and dynamic mobility,

第一項是平衡與動態行動力，

the second one is mobile manipulation,

第二項是行動操控，

and the third one is mobile perception.

第三項是行動感知。

So, dynamic mobility and balance --

所以，動態行動力與平衡──

I'm going to do a demo for you.

我來做個示範給各位看。

I'm standing here, balancing.

我站在這裡，很平衡。

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

看來各位並沒有覺得很佩服。 好，那現在這樣呢？

(Laughter)

（笑聲）

How about now?

現在這樣呢？

(Applause)

（掌聲）

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

那些簡單能力意味著人類幾乎 可以到達地球上的任何地方，

on any kind of terrain.

任何地形皆可。

We want to capture that for robots.

我們想要幫機器人取得那能力。

What about manipulation?

那麼操控呢？

I'm holding this clicker in my hand;

我手上持有一個搖控器；

I'm not even looking at it,

我甚至沒有看它，

and I can manipulate it without any problem.

我就可以操控它，這一點也沒問題。

But even more important,

但更重要的是，

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

在我手持這個操控機置── 搖控器時，我可以移動身體，

and stabilize and coordinate my body,

並且穩定、協調我的身體。

and I can even walk around.

我甚至可以到處走動。

And that means I can move around in the world

那意味著，我可以 在世界上到處走動，

and expand the range of my arms and my hands

擴展我的手臂與手的範圍，

and really be able to handle almost anything.

且真的能夠操作幾乎任何東西。

So that's mobile manipulation.

那就是行動操控。

And all of you can do this.

你們每個人都做得到。

Third is perception.

第三項是感知。

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

我看到這個會議廳裡面 有超過 1000 人，

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

我驚人的視覺系統 可以看到你們每一個人──

you're all stable in space,

在空間中你們都是穩定的，

even when I move my head,

即使當我移動我的頭、

even when I move around.

即使當我走來走去也一樣。

That kind of mobile perception is really important for robots

這類的行動感知 對機器人真的很重要，

that are going to move and act

它們得一邊移動

out in the world.

一邊與外在的世界反應。

I'm going to give you a little status report

我接下來要跟各位做個現況報告，

on where we are in developing robots toward these ends.

說明一下目前我們機器人的 開發進度到甚麼程度。

The first three robots are all dynamically stabilized robots.

前三個機器人都是 動態上穩定的機器人。

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

這一隻大約是十年前──

"BigDog."

它叫「BigDog」（大狗）。

It's got a gyroscope that helps stabilize it.

它有個陀螺儀能協助穩定它。

It's got sensors and a control computer.

它有感測器和控制電腦。

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

這是一隻獵豹機器人， 用飛奔的步伐在跑著，

where it recycles its energy,

它會回收它的能量，

it bounces on the ground,

它會利用地板彈起，

and it's computing all the time

且它時時刻刻都在運算，

in order to keep itself stabilized and propelled.

以保持它的穩定和推進。

And here's a bigger robot

這是一隻更大的機器人，

that's got such good locomotion using its legs,

它腳的移動力非常好，

that it can go in deep snow.

可走在很深的積雪中。

This is about 10 inches deep,

那積雪有 10 吋深，

and it doesn't really have any trouble.

它完全沒有任何問題。

This is Spot, a new generation of robot --

這是 Spot（小花）， 新世代機器人…

just slightly older than the one that came out onstage.

比剛剛上台亮相的那一隻 要稍微老一點。

And we've been asking the question --

我們一直在問這個問題：

you've all heard about drone delivery:

你們都聽過無人機送貨；

Can we deliver packages to your houses with drones?

我們能夠用無人機 把包裏送到你家嗎？

Well, what about plain old legged-robot delivery?

那麼用老式的 有腳機器人來送貨如何？

(Laughter)

（笑聲）

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

所以我們帶我們的機器人 去我們員工的家裡，

to see whether we could get in --

試看看我們能否進得去──

(Laughter)

（笑聲）

the various access ways.

用各種能進入的方式。

And believe me, in the Boston area,

相信我，在波士頓區，

there's every manner of stairway twists and turns.

有各式各樣的樓梯轉折和轉彎。

So it's a real challenge.

那真的是個挑戰。

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

但我們做得很好， 大約七成的路都能走。

And here's mobile manipulation,

這是行動操控，

where we've put an arm on the robot,

我們在機器人身上加了一隻手臂，

and it's finding its way through the door.

它正在設法開門。

Now, one of the important things about making autonomous robots

製做自動機器人，有件很重要的事，

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

就是要讓它們 不要完全照你說的做，

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

讓它們去處理真實世界中 會發生的不確定性。

So we have Steve there, one of the engineers,

所以影片中的工程師史蒂夫

giving the robot a hard time.

正在找機器人的麻煩。

(Laughter)

（笑聲）

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

而實際上，程式仍然 能容忍所有的干擾──

it does what it's supposed to.

機器人在做它該做的。

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

這是另一個例子， 機器人正在上樓時，

as it goes up the stairs.

艾瑞克用力拉扯它。

And believe me,

相信我，

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

讓它能在這類情況下 仍然能去做它該做的，

is a real challenge,

是很大的挑戰。

but the result is something that's going to generalize

但最後的結果，機器人能夠 面對一般的情況，

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

相對於沒這麼設計的結果， 它們變得更自動化了。

This is Atlas, a humanoid robot.

這是 Atlas （亞特力士）， 人形機器人。

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

它是我們打造的 第三代人形機器人。

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

我等等會再告訴各位硬體的設計。

And we've been saying:

我們一直在說：

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

在做一般的工作任務時， 機器人能夠多接近人類的

in an ordinary task,

表現與速度？

like moving boxes around on a conveyor?

比如搬動傳輸帶上的箱子？

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

平均來說，我們可以達到

人類操作速度的三分之二。

on average.

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

這隻機器人在用雙手， 它在用它的身體，

it's stepping,

它在跨步，

so it's really an example of dynamic stability,

這個例子就展示了動態穩定性、

mobile manipulation

行動操控、

and mobile perception.

及行動感知。

Here --

這裡……

(Laughter)

（笑聲）

We actually have two Atlases.

我們其實有兩隻 Atlas。

(Laughter)

（笑聲）

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

並非一切都完全依規劃的進行。

(Laughter)

（笑聲）

(Laughter)

（笑聲）

(Laughter)

（笑聲）

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

這是我們最新的機器人， 叫「Handle」（手把）。

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

Handle 很有趣， 因為它有點像半隻動物，

and it's half something else

另一半則是其他的，

with these leg-like things and wheels.

它有類似腿的東西和輪子。

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

它有手臂，樣子有點好笑。

but it really does some remarkable things.

但它能做些很驚人的事。

It can carry 100 pounds.

它能負重 100 磅。

It's probably going to lift more than that,

它能舉起的重量可能更多，

but so far we've done 100.

但目前我們做到的是 100。

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

雖然它是用輪子， 但它對不平坦地形的

even though it has wheels.

處理能力很棒。

And Handle loves to put on a show.

Handle 很愛表演。

(Laughter)

（笑聲）

(Applause)

（掌聲）

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

接下來我要跟各位 聊一下機器人的信仰。

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

很多人認為，機器人是 一種機器，裡面有台電腦，

that's telling it what to do,

電腦會告訴它該做什麼，

and the computer is listening through its sensors.

而電腦是透過它的感測器來做反應。

But that's really only half of the story.

但那只對了一半。

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

真正的狀況是，一端是電腦，

making suggestions to the robot,

對機器人提出建議，

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

另一端是物理學的世界。

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

那物理學涉及地心引力、 摩擦力、彈力等等。

In order to have a successful robot,

若要做出一隻成功的機器人，

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

我的信仰是， 你得要做整體全面的設計，

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

你要設計軟體、硬體、以及行為，

all at one time,

同時一起設計，

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

所有這些部份都能 緊密配合並彼此合作。

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

當你做出完美的設計，

所有部件彼此的互動 才會有真正的和諧。

between all those parts interacting with each other.

So it's half software and half hardware,

所以它是一半軟體、一半硬體，

plus the behavior.

外加行為。

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

我們最近在硬體上 下了點功夫，我們試著──

the picture on the left is a conventional design,

左圖是傳統的設計，

where you have parts that are all bolted together,

各部件都拴在一起，

conductors, tubes, connectors.

如導體、管線、連接器。

And on the right is a more integrated thing;

右圖是比較整合式的，

it's supposed to look like an anatomy drawing.

它應該要看起來像是張 解剖學的圖。

Using the miracle of 3-D printing,

靠著 3D 列印的奇蹟，

we're starting to build parts of robots

我們開始建立機器人的各部件，

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

它們看起來比較像是動物的解剖。

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

那是上腿部件，有著水壓通路──

actuators, filters --

促動器、過濾器──

all embedded, all printed as one piece,

都內建在其中，形成一件物品。

and the whole structure is developed

開發整個結構時，

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

要知道將來需要的載重以及行為，

which is available from data recorded from robots

這些資料來自機器人的記錄、

and simulations and things like that.

以及模擬等等。

So it's a data-driven hardware design.

所以它是種資料驅動的硬體設計。

And using processes like that,

用那樣的過程，

not only the upper leg but some other things,

不只是上腿部，還有其他東西，

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

我們讓我們的機器人從巨型、龐大、 笨重、緩慢、糟糕的機器人──

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

右邊那一隻重量幾乎有 400 磅──

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

縮減到中間那隻 剛剛在影片中看到的機器人，

weighs about 190 pounds,

它的重量約 190 磅，

just a little bit more than me,

只比我重一點，

and we have a new one,

我們還有一隻新的，

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

已經可以用了， 但我還不打算讓大家看，

on the left,

就是左邊那隻，

which weighs just 165 pounds,

重量為 165 磅，

with all the same strength and capabilities.

具有同等的力量和能力。

So these things are really getting better very quickly.

所以這些東西很快地 就越做越好了。

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

該是 Spot 回來的時候了，

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

我們要來展示一下行動力、

dexterity and perception.

機敏度、和感知。

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

這是賽斯戴維斯， 今天當我的機器人牛仔，

and he's giving Spot some general direction

它會給 Spot 一些一般性的指令，

by steering it around,

操縱它走來走去，

but all the coordination of the legs and the sensors

但腳和感測器的所有協調，

is done by the robot's computers on board.

都是由機器人內建的電腦在做的。

The robot can walk with a number of different gaits;

這隻機器人有幾種不同的步法；

it's got a gyro,

它內建有個迴轉儀，

or a solid-state gyro,

或一個固態迴轉儀，

an IMU on board.

主機板上還有個慣性測量單元。

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

顯然，它也有電池這類的東西。

One of the cool things about a legged robot is,

有腳的機器人很酷的一點是

it's omnidirectional.

它是全方向的。

In addition to going forward, it can go sideways,

除了向前走，它也能橫著走，

it can turn in place.

它可以原地旋轉。

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

這隻機器人有點愛現。

It loves to use its dynamic gaits,

它喜歡用它的動態步法，

like running --

像跑步──

(Laughter)

（笑聲）

And it's got one more.

它還有一招。

(Laughter)

（笑聲）

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

如果它真的是在現的話， 它就會單腳跳了，

but, you know.

但，你知道的。

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

Spot 有一組攝影機在這裡， 是立體攝影機，

and we have a feed up in the center.

上面這裡有即時影像。

It's kind of dark out in the audience,

觀眾席有點暗，

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

但它會用那些攝影機

來看它前方的地形，

right in front of it,

while it goes over these obstacles back here.

它就能越過地上那些障礙。

For this demo, Seth is steering,

這個展示表演中， 賽斯是在操縱沒錯，

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

但機器人自己在做它的地形規劃。

This is a terrain map,

這是地形圖，

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

來自攝影機的資料會即時被處理，

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

顯示出的紅色區域， 是它不想踩到的地方，

and the green spots are the good places.

綠色區域則是好地方。

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

它把它們視為跳板一樣。

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

它會試著留在積木塊上面，

and it adjusts its stride,

它會調整它的步伐，

and there's a ton of planning

像這樣的活動

that has to go into an operation like that,

就會進行一大堆的規劃，

and it does all that planning in real time,

它會即時去做所有那些規劃，

where it adjusts the steps a little bit longer

決定要把步距稍微調大一點，

or a little bit shorter.

或稍微調小一點。

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

現在，我們要把它轉到另一個模式，

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

它會把這些積木塊當做地形來看待，

and decide whether to step up or down

隨著它前進，決定要踩上去

as it goes.

或踩下來。

So this is using dynamic balance

這裡用到的是動態平衡

and mobile perception,

和行動感知，

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

因為它得要把它所見的 與它的動作做協調。

The other thing Spot has is a robot arm.

Spot 還有機器手臂。

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

有些人可能會把它 視為是頭和脖子，

but believe me, it's an arm.

但，相信我，那是手臂。

Seth is driving it around.

賽斯在操縱它。

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

他其實是在操縱這隻手， 而身體會隨著動。

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

兩者間是用我先前 談到的方式在做協調的──

in the way people can do that.

用人類做協調的方式。

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

事實上，Spot 能做很多很酷的事， 其一被我們稱為「雞頭模式」，

and it keeps its head in one place in space,

它會把它的頭保持在 空間中的同一個位置，

and it moves its body all around.

還可以把身體動來動去。

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

這有另一種變化叫做「電臀舞」──

(Laughter)

（笑聲）

but we're not going to use that today.

但我們今天不會做這個。

(Laughter)

（笑聲）

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

Spot，我覺得有點渴， 你能幫我拿瓶汽水嗎？

For this demo, Seth is not doing any driving.

這個展示中， 賽斯沒有做任何操縱。

We have a LIDAR on the back of the robot,

在機器人的背後有裝 LIDAR （雷射雷達、光學定向、測距），

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

它在使用我們放在台上的這些道具

to localize itself.

來定位自己的位置。

It's gone over to that location.

它已經走到那個地點了。

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

現在它在用裝在它手上的攝影機

to find the cup,

來找杯子，

picks it up --

把它拿起來…

and again, Seth's not driving.

同樣的，賽斯沒有在操縱。

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

我們為它規劃了要走的路徑──

it looked like it was going off the path --

看起來它要偏離路徑了──

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

賽斯現在重新開始取得控制權，

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

因為我有點怕 完全放手讓它自己做。

Thank you, Spot.

謝謝你，Spot。

(Applause)

（掌聲）

So, Spot:

所以，Spot，

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

對於你剛完成你的 TED 表演，感覺如何？

(Laughter)

（笑聲）

Me, too!

我有同感！

(Laughter)

（笑聲）

Thank you all,

謝謝大家，

and thanks to the team at Boston Dynamics,

謝謝波士頓動力公司的團隊，

who did all the hard work behind this.

他們是這幕後的功臣。

(Applause)

（掌聲）

Helen Walters: Marc, come back in the middle.

海倫華特斯：馬克，請回來中央。

Thank you so much.

非常謝謝你。

Come over here, I have questions.

請過來這裡，我有些問題。

So, you mentioned the UPS and the package delivery.

所以，你提到了優比速和包裹遞送。

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

你認為你的機器人 還能做什麼其他應用？

Marc Raibert: You know, I think that robots

馬克萊柏特：我認為，

that have the capabilities I've been talking about

具有我談到的那些能力的機器人

are going to be incredibly useful.

將會非常有用。

About a year ago, I went to Fukushima

大約一年前，我去了福島，

to see what the situation was there,

去看那兒的狀況如何，

and there's just a huge need

那裡非常需要

for machines that can go into some of the dirty places

有機器能夠進入一些污染的地方，

and help remediate that.

協助做修復。

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

我想在不久的將來，我們家裡 就會有像這樣的機器人了，

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

其中一個很大的需求， 就是要照顧年邁者

and invalids.

及病弱者。

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

我想不用太久，我們就會用機器人

to help take care of our parents,

來協助照顧我們的父母，

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

或是更有可能，是讓機器人 協助我們的孩子照顧我們。

And there's a bunch of other things.

還有一大堆其他可做的。

I think the sky's the limit.

我認為是沒有限制的。

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

還有很多點子我們還沒去想，

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

像你們這樣的人 能協助我們想出新的應用。

HW: So what about the dark side?

海倫：那麼黑暗面呢？

What about the military?

如軍方的應用？

Are they interested?

他們有興趣嗎？

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

馬克：當然，軍方一直是 機器人學的重要資助者。

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

我自己並不覺得軍方算是黑暗面，

but I think, as with all advanced technology,

但我認為，有這些先進技術，

it can be used for all kinds of things.

它可以用在各種事物上。

HW: Awesome. Thank you so much.

海倫：棒極了，非常謝謝你。

MR: OK, you're welcome.

馬克：好的，不客氣。

Thank you.

謝謝你。

(Applause)

（掌聲）