Origami robots that reshape and transform themselves | Jamie Paik

譯者: Amanda Chu 審譯者: Marssi Draw

As a roboticist, I get asked a lot of questions.

身為機器人學家， 我被問過很多問題。

"When we will they start serving me breakfast?"

「何時才有會煮早餐的機器人？」

So I thought the future of robotics would be looking more like us.

我過去認為未來的機器人 會跟我們長得很像。

I thought they would look like me,

我覺得它們會長得像我一樣，

so I built eyes that would simulate my eyes.

所以我用自己的眼睛當範本 來為它們做眼睛。

I built fingers that are dextrous enough to serve me ...

我給它們做手指， 讓它們能靈活地丟棒球。

baseballs.

Classical robots like this

這種傳統式的機器人

are built and become functional

有一定數量的關節和致動器 來執行它的功能，

based on the fixed number of joints and actuators.

And this means their functionality and shape are already fixed

這也表示，在設計構思的階段，

它們就已有了一定的功能和形狀。

at the moment of their conception.

So even though this arm has a really nice throw --

所以，就算它能完美地投球——

it even hit the tripod at the end--

打到三角架了——

it's not meant for cooking you breakfast per se.

它並不能為你做早餐，

It's not really suited for scrambled eggs.

也無法幫你炒蛋。

So this was when I was hit by a new vision of future robotics:

思索至此，我對未來的機器人 有了新的構想：

the transformers.

變形金剛。

They drive, they run, they fly,

它們能疾駛、奔跑、飛翔，

all depending on the ever-changing, new environment and task at hand.

隨著多變的環境和任務來變化。

To make this a reality,

為了讓這個想法成真，

you really have to rethink how robots are designed.

就必須重新思考機器人設計的概念。

So, imagine a robotic module in a polygon shape

想像一下，如果有一個 多角形的機器人模組，

and using that simple polygon shape

運用簡單的多角形 來變化成多種不同形狀，

to reconstruct multiple different forms

to create a new form of robot for different tasks.

我們就可以用這樣的模組 來建造多才多藝的新型機器人。

In CG, computer graphics, it's not any news --

這在電腦繪圖的領域中不是新概念，

it's been done for a while, and that's how most of the movies are made.

它已應用多年，現在的電影 大量運用這項技術。

But if you're trying to make a robot that's physically moving,

但要建造一個可以移動機器人，

it's a completely new story.

就完全是另一回事了，

It's a completely new paradigm.

因為沒有前例可循。

But you've all done this.

各位都有過摺紙的經驗，

Who hasn't made a paper airplane, paper boat, paper crane?

無論是紙飛機、紙船、紙鶴。

Origami is a versatile platform for designers.

以設計的角度來看， 摺紙是一種變化多端的平台；

From a single sheet of paper, you can make multiple shapes,

用一張紙，你就能摺出各種形狀，

and if you don't like it, you unfold and fold back again.

如果你不喜歡摺出來的作品， 可以拆開來重新摺成別的東西。

Any 3D form can be made from 2D surfaces by folding,

任何立體形狀 都可以用平面來摺疊成型，

and this is proven mathematically.

這是數學可以證明的。

And imagine if you were to have an intelligent sheet

如果這張紙長了腦袋，

that can self-fold into any form it wants,

就可以自己隨時摺成任何形狀。

anytime.

And that's what I've been working on.

這就是我目前致力創造的東西，

I call this robotic origami,

我稱之為「摺紙式機器人」。

"robogami."

This is our first robogami transformation

這是我十年前做的摺紙式機器人 首次變形的過程，

that was made by me about 10 years ago.

From a flat-sheeted robot,

它從一個平面，

it turns into a pyramid and back into a flat sheet

變成金字塔形狀，然後再變回來，

and into a space shuttle.

接著變成太空梭的形狀。

Quite cute.

很可愛吧！

Ten years later, with my group of ninja origami robotic researchers --

十年後的今天，

我的摺紙式機器人忍者研究團隊——

about 22 of them right now --

成員約有 22 人——

we have a new generation of robogamis,

已經做出新一代的摺紙式機器人，

and they're a little more effective and they do more than that.

它們的執行效率更高， 能做的事情也更多。

So the new generation of robogamis actually serve a purpose.

新一代摺紙式機器人有實際用途，

For example, this one actually navigates through different terrains autonomously.

舉個例子，這個機器人 能根據地形來自主導航；

So when it's a dry and flat land, it crawls.

在乾燥和平坦的地面，它會用爬的，

And if it meets sudden rough terrain,

突然碰到崎嶇不平的地形，

it starts rolling.

它會開始用滾的。

It does this -- it's the same robot --

它會這樣——這是同一個機器人——

but depending on which terrain it meets,

隨著碰到的地形，

it activates a different sequence of actuators that's on board.

它會啟動致動器中不同組的程序。

And once it meets an obstacle, it jumps over it.

一旦有障礙物，它會跳過去，

It does this by storing energy in each of its legs

這是藉著在它的腿中儲存能量，

and releasing it and catapulting like a slingshot.

然後在釋放能量時 讓它像射彈弓一樣彈出去。

And it even does gymnastics.

它甚至還能會體操動作。

Yay.

耶！

(Laughter)

（笑聲）

So I just showed you what a single robogami can do.

你們剛剛看到了 單一摺紙式機器人的能耐。

Imagine what they can do as a group.

成群時它們能做甚麼？

They can join forces to tackle more complex tasks.

它們能合力執行更複雜的工作。

Each module, either active or passive,

每個模組——有的是主動式模組， 有的是被動式模組——

we can assemble them to create different shapes.

能組合成不同的形狀。

Not only that, by controlling the folding joints,

更甚於此，我們能 藉由控制摺疊處的關節，

we're able to create and attack different tasks.

讓它們有能力因應更多不同的工作。

The form is making new task space.

組合的形狀決定它能創造的新功能，

And this time, what's most important is the assembly.

此時，最重要的就是組合的動作，

They need to autonomously find each other in a different space,

各個模組必須在 分散各處的情況下找到彼此，

attach and detach, depending on the environment and task.

然後視環境和任務的需要 組合或分離。

And we can do this now.

這我們已經辦到了。

So what's next?

接下來呢？

Our imagination.

那就要運用想像力了。

This is a simulation of what you can achieve

我們用這種模組做了一些模擬。

with this type of module.

We decided that we were going to have a four-legged crawler

我們決定要做一個 用四隻腳爬行的機器人，

turn into a little dog and make small gaits.

它變成一隻小狗，然後小步走路。

With the same module, we can actually make it do something else:

我們能用同一個模組做成別的東西：

a manipulator, a typical, classical robotic task.

機械手，一種典型的傳統機器人。

So with a manipulator, it can pick up an object.

機械手可以把東西拿起來。

Of course, you can add more modules to make the manipulator legs longer

你當然也可以加用更多模組， 讓機器手臂更長，

to attack or pick up objects that are bigger or smaller,

來拿起更大或更小的物體，

or even have a third arm.

或讓它有第三隻手臂。

For robogamis, there's no one fixed shape nor task.

摺紙式機器人沒有特定的形狀， 也沒有特定的功能，

They can transform into anything, anywhere, anytime.

它們能隨時隨地變成任何東西。

So how do you make them?

這種機器人是怎麼建造的呢？

The biggest technical challenge of robogami is keeping them super thin,

技術上最大的挑戰是超薄化，

flexible,

讓它們更靈活，

but still remaining functional.

同時保有功能性。

They're composed of multiple layers of circuits, motors,

每個單一的機體都是由多層電路、 馬達、微控制器和感應器組成，

microcontrollers and sensors,

all in the single body,

and when you control individual folding joints,

如果摺疊處的關節都能分別控制，

you'll be able to achieve soft motions like that

一個指令就能夠達成 像那樣柔軟的動作。

upon your command.

Instead of being a single robot that is specifically made for a single task,

一個機器人不再只有一種用途，

robogamis are optimized to do multi-tasks.

摺紙式機器人是優化的多工機器人。

And this is quite important

這項技術在地球以及太空中 各種獨特的環境裡，

for the difficult and unique environments on the Earth

as well as in space.

有很重要的用途。

Space is a perfect environment for robogamis.

摺紙式機器人最適合 應用於太空的環境，

You cannot afford to have one robot for one task.

單工機器人成本太高，

Who knows how many tasks you will encounter in space?

太空任務的各項需求難以預測，

What you want is a single robotic platform that can transform to do multi-tasks.

我們需要的是一個能變形 來執行各種工作的機器人平台——

What we want is a deck of thin robogami modules

一種薄型摺紙式機器人模組的太空艙，

that can transform to do multiples of performing tasks.

機器人能各自變形來完成各種工作。

And don't take my word for it,

口說無憑，

because the European Space Agency and Swiss Space Center

歐洲太空總署和瑞士太空中心 已贊助了這個概念。

are sponsoring this exact concept.

So here you see a couple of images of reconfiguration of robogamis,

現在你可以看到摺紙式機器人 多種組態的畫面。

exploring the foreign land aboveground, on the surface,

它們探索外星，

能在地表工作，也能飛天遁地。

as well as digging into the surface.

It's not just exploration.

它們的功能也不僅止於探索。

For astronauts, they need additional help,

太空人需要協助，

because you cannot afford to bring interns up there, either.

但把實習生送上太空也不敷成本。

(Laughter)

（笑聲）

They have to do every tedious task.

他們要自己做各種單調的工作，

They may be simple,

這些工作可能很單純，

but super interactive.

但互動性很高。

So you need robots to facilitate their experiments,

這時候就可能需要機器人 來幫他們進行實驗、

assisting them with the communications

協助執行輸送任務，

and just docking onto surfaces to be their third arm holding different tools.

或直接附著在艙殼上， 變成太空人的第三隻手臂，

自己拿著工具工作。

But how will they be able to control robogamis, for example,

但太空人該如何在艙內 控制艙外的摺紙式機器人？

outside the space station?

In this case, I show a robogami that is holding space debris.

這裡看到的是一個機器人 拿著太空殘骸。

You can work with your vision so that you can control them,

如果能看到艙外的狀況， 就能控制機器人。

but what would be better is having the sensation of touch

但如果太空人能用手的觸覺 感受到太空艙外的物體，

directly transported onto the hands of the astronauts.

那就更好了。

And what you need is a haptic device,

此時我們需要的是模擬觸覺的裝置，

a haptic interface that recreates the sensation of touch.

一種觸覺模擬的介面， 重現標的物觸摸起來的感覺。

And using robogamis, we can do this.

這是摺紙式機器人做得到的。

This is the world's smallest haptic interface

這是全世界最小的觸覺模擬介面，

that can recreate a sensation of touch just underneath your fingertip.

它能在你的指尖下模擬觸覺的感受。

We do this by moving the robogami

摺紙式機器人是在模擬台上

by microscopic and macroscopic movements at the stage.

以肉眼看不出來的顯微動作， 搭配肉眼可見的動作，

來達成這項模擬。

And by having this, not only will you be able to feel

有了這項裝置，

你不但能感覺到這物體 有多大、多圓，或線條狀，

how big the object is,

the roundness and the lines,

but also the stiffness and the texture.

還能感覺到軟硬度和質地。

Alex has this interface just underneath his thumb,

影片中，介面在艾力克斯的拇指下，

and if he were to use this with VR goggles and hand controllers,

如果再搭配使用 虛擬實境眼鏡和手動控制器，

now the virtual reality is no longer virtual.

虛擬實境就不再是虛擬了，

It becomes a tangible reality.

而是摸得到的實境。

The blue ball, red ball and black ball that he's looking at

他看到的藍球、紅球、黑球，

is no longer differentiated by colors.

不再只能用顏色來區分；

Now it is a rubber blue ball, sponge red ball and billiard black ball.

藍球是橡皮做的， 紅球是海綿做的，黑球是撞球。

This is now possible.

這已經變成可能。

Let me show you.

我來示範給你們看。

This is really the first time this is shown live

這真的是第一次

在這麼多觀眾的公開場合做展示。

in front of a public grand audience,

so hopefully this works.

希望行得通。

So what you see here is an atlas of anatomy

你現在看到的是人體解剖圖，

and the robogami haptic interface.

以及摺紙式機器人的觸覺模擬介面。

So, like all the other reconfigurable robots,

就像其他所有可重新組態的機器人，

it multitasks.

它具有多工性。

Not only is it going to serve as a mouse,

它不但是個滑鼠，

but also a haptic interface.

也是觸覺模擬介面。

So for example, we have a white background where there is no object.

比如說，空白背景中沒有物體，

That means there is nothing to feel,

所以沒有感覺要模擬。

so we can have a very, very flexible interface.

這介面就會很軟。

Now, I use this as a mouse to approach skin,

現在，我把它當作滑鼠移到皮膚上，

a muscular arm,

肌肉發達的手臂上，

so now let's feel his biceps,

我們來摸一下他的二頭肌，

or shoulders.

然後他的肩膀，

So now you see how much stiffer it becomes.

你可以看到它變得比較硬。

Let's explore even more.

我們來摸其他部位。

Let's approach the ribcage.

現在移到他的胸廓，

And as soon as I move on top of the ribcage

我從肋骨滑到肋間肌上，

and between the intercostal muscles,

which is softer and harder,

馬上感覺到由硬變軟，

I can feel the difference of the stiffness.

有很明顯的差別。

Take my word for it.

你要相信我。

So now you see, it's much stiffer in terms of the force

你們看，現在摸起來很硬，

因為傳到我指尖的反作用力比較大。

it's giving back to my fingertip.

So I showed you the surfaces that aren't moving.

剛才都是摸一些靜止的表面，

How about if I were to approach something that moves,

摸到在動的東西會怎麼樣呢？

for example, like a beating heart?

比如說，跳動的心臟？

What would I feel?

會有甚麼感覺呢？

(Applause)

（掌聲）

This can be your beating heart.

有一天這可能是你的心臟。

This can actually be inside your pocket

在網路上購物的時候，

while you're shopping online.

將此裝置放在口袋裡。

Now you'll be able to feel the difference of the sweater that you're buying,

你就能伸手到口袋裡， 摸到毛衣的不同質地，

how soft it is,

它有多柔軟，

if it's actually cashmere or not,

是不是真的喀什米爾羊毛。

or the bagel that you're trying to buy,

如果你想買貝果，

how hard it is or how crispy it is.

你能感覺到它有多硬或多脆。

This is now possible.

這已經變成可能。

The robotics technology is advancing to be more personalized and adaptive,

機器人技術已進步到 更個人化和更有適應性，

to adapt to our everyday needs.

來因應我們日常的需求。

This unique specie of reconfigurable robotics

這種獨特的可重組態機器人技術

is actually the platform to provide this invisible, intuitive interface

為無形而直覺的介面提供平台，

to meet our exact needs.

來迎合我們各種特定的需求。

These robots will no longer look like the characters from the movies.

這些機器人不再像是 電影中看到的機器人角色，

Instead, they will be whatever you want them to be.

而是你們想要的， 它們就會變成那個樣子。

Thank you.

謝謝大家。

(Applause)

（掌聲）