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TEDGlobal 2011

Péter Fankhauser: Meet Rezero, the dancing ballbot

ペーター・ファンクハウザー 「踊るボールボットRezero」

July 13, 2011

TEDGlobalのステージでペーター・ファンクハウザーがボールの上でバランスを取るロボットRezeroのデモをします。工学部の学生たちが設計し組み立てたRezeroは、素早く優雅に動き、ダンスさえする初めての「ボールボット」です。

Péter Fankhauser - Roboticist
Péter Fankhauser is the leader of a team of students working on Rezero, a robot that balances on a single sphere. Full bio

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Double-click the English subtitles below to play the video.
Let me introduce to you Rezero.
Rezeroをご紹介します
00:16
This little fellow was developed
この小さなロボットは
00:19
by a group of 10 undergraduate students
チューリッヒ工科大学の
00:21
at the Autonomous Systems Laboratory
自律システム研の学部学生
00:23
at ETH-Zurich.
10人で開発したものです
00:25
Our robot belongs to a family of robots
これは「ボールボット」と呼ばれる
00:27
called Ballbots.
ロボットの一種で
00:29
Instead of wheels, a Ballbot is balancing
タイヤを使う代わりに
00:31
and moving on one single ball.
1個のボールの上でバランスを取っています
00:33
The main characteristics of such a system is
このようなシステムの特徴は
00:35
that there's one sole contact point to the ground.
接地点が1つしかないということで
00:37
This means that the robot
そのため このロボットは
00:40
is inherently unstable.
本質的に不安定です
00:42
It's like when I am trying to stand
ちょうど片足で立っている人のようなものです
00:44
on one foot.
ちょうど片足で立っている人のようなものです
00:46
You might ask yourself, what's the usefulness
そんな不安定なロボットが
00:47
of a robot that's unstable?
何の役に立つのかと思うかもしれません
00:49
Now we'll explain that in a second.
それについては すぐご説明しますが
00:51
Let me first explain how Rezero
その前にRezeroがどうやって
00:53
actually keeps his balance.
バランスを取っているのかお話ししましょう
00:55
Rezero keeps his balance by constantly
Rezeroは絶えず傾き加減を
00:57
measuring his pitch angle with a sensor.
センサで計測していて
00:59
He then counteracts and avoids toppling over
その結果に応じてモーターを動かし
01:02
by turning the motors appropriately.
倒れないようにしているのです
01:05
This happens 160 times per second,
それを1秒間に160回もしています
01:07
and if anything fails in this process,
そのどこかで何かが
01:09
Rezero would immediately fall to the ground.
うまくいかなくなったら すぐ倒れてしまうでしょう
01:11
Now to move and to balance,
移動やバランス保持のため
01:14
Rezero needs to turn the ball.
ボールを転がす必要がありますが
01:16
The ball is driven by three special wheels
3つの円盤でボールを動かしていて
01:18
that allow Rezero to move into any direction
どの方向にでもボールを転がせるようになっており
01:20
and also move around his own axis
移動しながら
01:23
at the same time.
自転することもできます
01:25
Due to his instability, Rezero is always
その不安定さのため 常に動いていますが
01:29
in motion. Now here's the trick.
これが大事なところで
01:31
It's indeed exactly this instability that allows
まさにこの不安定さが ロボットをとてもダイナミックに
01:33
a robot to move very [dynamically].
動けるようにしているのです
01:36
Let's play a little.
少しやってみましょう
01:38
You may have wondered what happens
押されたりしたらどうなるかと
01:40
if I give the robot a little push.
お思いかもしれません
01:42
In this mode, he's trying to maintain
今は
01:47
his position.
「現在位置維持モード」になっています
01:49
For the next demo, I'd like you to introduce
次のデモのため 同僚の2人
01:52
to my colleagues Michael, on the computer,
コンピュータを操作するマイケルと
01:55
and Thomas who's helping me onstage.
ステージを手伝ってくれるトーマスに来てもらいましょう
01:58
In the next mode, Rezero is passive,
次の「受け身モード」では
02:02
and we can move him around.
あちこち動かしてやることができます
02:04
With almost no force I can control
ほんの小さな力で
02:08
his position and his velocity.
位置や速さを変えられます
02:10
I can also make him spin.
スピンさせることもできます
02:16
In the next mode, we can get Rezero
次は
02:30
to follow a person.
人に付いていく「追従モード」です
02:32
He's now keeping a constant distance to Thomas.
彼から距離を一定に保っています
02:35
This works with a laser sensor
上についている
02:42
that's mounted on top of Rezero.
レーザーセンサを使っています
02:44
With the same method, we can also
同じ要領で
02:50
get him to circle a person.
人の周りを回らせることもできます
02:52
We call this the orbiting mode.
「公転モード」と呼んでいます
02:57
All right, thank you, Thomas.
ありがとう トーマス
03:10
(Applause)
(拍手)
03:12
Now, what's the use of this technology?
この技術は何に使えるでしょう?
03:16
For now, it's an experiment, but let me
今はまだ実験段階ですが
03:22
show you some possible future applications.
将来可能な応用をいくつかお見せしましょう
03:24
Rezero could be used in exhibitions or parks.
博覧会場や遊園地で
03:28
With a screen it could inform people or show
ディスプレイを付け 情報表示や
03:30
them around in a fun and entertaining way.
案内といったサービスを 楽しく提供できるでしょう
03:32
In a hospital, this device could be used to
病院では医療器具を
03:35
carry around medical equipment.
運ぶのに使えるでしょう
03:37
Due to the Ballbot system, it has a very small
ボールボットの性質上 場所を取らず
03:39
footprint and it's also easy to move around.
簡単に移動できます
03:41
And of course, who wouldn't like
もちろん
03:44
to take a ride on one of these.
乗るというのだってありです
03:46
And these are more practical applications.
どれも実用的な使い方ですが
03:49
But there's also a certain beauty
この技術自体には
03:51
within this technology.
ある種の美しさもあります
03:53
(Music)
(音楽)
03:55
(Applause)
(拍手)
04:58
Thank you.
皆さんどうも—
04:59
(Applause)
(拍手)
05:01
Thank you.
ありがとうございました
05:05
Translator:Yasushi Aoki
Reviewer:Hidetoshi Yamauchi

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Péter Fankhauser - Roboticist
Péter Fankhauser is the leader of a team of students working on Rezero, a robot that balances on a single sphere.

Why you should listen

Mechanical engineer Péter Fankhauser is leading a large team of student engineers and designers at the Swiss federal institute of technology in Zurich who are building a robot that balances and drives on a single sphere. Other roboticists have explored this idea, of stabilizing a robot on a ball, but what Fankhauser and his fellow students hoped to do was make it dance. “Adding dynamics was definitely one of our goals,” he says.

Working with researchers including Michael Neunert and Thomas Kammermann,  the team has produced Rezero, a ballbot prototype that can slalom around, resist toppling up to 17 degrees off vertical, and inspire myriad uses. Designed for high acceleration, it moves in an organic and even elegant way.  Fankhauser has started graduate studies in mechanical engineering this fall with a focus on robotics, control and construction.

He says of Rezero: "He wants to demonstrate what he can do, as if he was saying, ‘Backwards, forwards. I can do it all. Look at me!'"

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