TED2019
Jamie Paik: Origami robots that reshape and transform themselves
杰米·派克: 能够自我重塑和变形的折纸机器人
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机器人专家 杰米·派克（Jamie Paik）和她的团队从折纸艺术中获得灵感，创造出了折纸机器人：一种由超薄材料制成的可折叠式机器人，能够自行重塑和变形。在这场演讲和技术演示中，派克为我们展示了折纸机器人是如何适应并完成日常工作任务的（甚至能用于太空任务）。同时，她也为我们展示了这种机器人是如何翻滚、跳跃，并像弹弓一样弹射，甚至模拟心脏的跳动。
Jamie Paik - Robotician
Soft robotics expert Jamie Paik designs "robogamis" -- folding robots inspired by origami that are more adaptable than classical robots. Full bio
Soft robotics expert Jamie Paik designs "robogamis" -- folding robots inspired by origami that are more adaptable than classical robots. Full bio
Double-click the English transcript below to play the video.
00:13
As a roboticist,
I get asked a lot of questions.
I get asked a lot of questions.
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作为一个机器人科学家，
我经常被问到很多问题。
我经常被问到很多问题。
00:17
"When we will they start
serving me breakfast?"
serving me breakfast?"
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“什么时候才会有机器人
帮我做早饭？”
帮我做早饭？”
00:21
So I thought the future of robotics
would be looking more like us.
would be looking more like us.
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我认为未来的机器人
会跟我们长得很像。
会跟我们长得很像。
00:28
I thought they would look like me,
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我觉得他们会长得和我一样，
00:29
so I built eyes
that would simulate my eyes.
that would simulate my eyes.
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所以我为它们制作了眼睛，
以我的眼睛作为模拟范本。
以我的眼睛作为模拟范本。
00:34
I built fingers that are dextrous
enough to serve me ...
enough to serve me ...
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我为机器人研制了
足够灵活的手指，来帮我……
足够灵活的手指，来帮我……
00:39
baseballs.
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投棒球。
00:43
Classical robots like this
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像这样的传统机器人
00:45
are built and become functional
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是基于固定数量的
00:49
based on the fixed number
of joints and actuators.
of joints and actuators.
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关节和制动器来执行它的功能，
00:52
And this means their functionality
and shape are already fixed
and shape are already fixed
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这意味着在设计构思它们的阶段，
其功能和外形
其功能和外形
00:57
at the moment of their conception.
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就已基本固定了。
也就是说，虽然这个
机械臂扔球扔得很准——
机械臂扔球扔得很准——
00:59
So even though this arm
has a really nice throw --
has a really nice throw --
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01:02
it even hit the tripod at the end--
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准到完美击中三脚架——
01:06
it's not meant for cooking you
breakfast per se.
breakfast per se.
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但它并不能给你做早饭，
01:09
It's not really suited for scrambled eggs.
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比如炒鸡蛋。
01:12
So this was when I was hit
by a new vision of future robotics:
by a new vision of future robotics:
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所以我对未来的机器人
产生了新的构想：
产生了新的构想：
01:18
the transformers.
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那就是“变形金刚”。
01:20
They drive, they run, they fly,
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这种机器人可以根据
执行的任务和环境的不同，
执行的任务和环境的不同，
01:23
all depending on the ever-changing,
new environment and task at hand.
new environment and task at hand.
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在驾驶、奔跑、飞行
三种模式间自由切换。
三种模式间自由切换。
01:29
To make this a reality,
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为了实现这个构想，
01:31
you really have to rethink
how robots are designed.
how robots are designed.
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我们必须重新思考
机器人的设计方式。
机器人的设计方式。
01:35
So, imagine a robotic module
in a polygon shape
in a polygon shape
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想象一个多边形的机器人模块，
01:39
and using that simple polygon shape
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并且用这一个简单的多边形模块
01:41
to reconstruct multiple different forms
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去“折”成各种不同的形状，
01:44
to create a new form of robot
for different tasks.
for different tasks.
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去拼成一个新的机器人
来完成各种不同的任务。
来完成各种不同的任务。
01:49
In CG, computer graphics,
it's not any news --
it's not any news --
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在计算机绘图领域，
这不是什么新鲜事——
这不是什么新鲜事——
01:53
it's been done for a while, and that's how
most of the movies are made.
most of the movies are made.
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它已经应用多年，
而且大多数电影都采用这项技术。
而且大多数电影都采用这项技术。
01:56
But if you're trying to make a robot
that's physically moving,
that's physically moving,
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但要建造一个
身体可以移动的机器人，
身体可以移动的机器人，
02:00
it's a completely new story.
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就完全是另一回事了。
02:02
It's a completely new paradigm.
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没有前例可循。
02:06
But you've all done this.
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但是，我们都干过类似的事。
02:09
Who hasn't made a paper airplane,
paper boat, paper crane?
paper boat, paper crane?
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那便是，我们都折过纸，
无论是纸飞机、纸船，还是千纸鹤。
无论是纸飞机、纸船，还是千纸鹤。
02:15
Origami is a versatile
platform for designers.
platform for designers.
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以设计师的角度来看，
折纸艺术是一个变化多端的过程，
折纸艺术是一个变化多端的过程，
02:19
From a single sheet of paper,
you can make multiple shapes,
you can make multiple shapes,
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用一张纸，你就可以折出各种形状，
02:23
and if you don't like it,
you unfold and fold back again.
you unfold and fold back again.
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如果你不喜欢这个作品，
可以拆开来，再折出另外的东西。
可以拆开来，再折出另外的东西。
02:27
Any 3D form can be made
from 2D surfaces by folding,
from 2D surfaces by folding,
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任何 3D 立体形式都可以
由 2D 平面折叠而成，
由 2D 平面折叠而成，
02:33
and this is proven mathematically.
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这在数学上得到了证明。
02:38
And imagine if you were to have
an intelligent sheet
an intelligent sheet
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再想象一下，
要是有一张智能化的纸，
要是有一张智能化的纸，
02:42
that can self-fold into any form it wants,
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这张纸可以随时随地自己折成
02:46
anytime.
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任何形状。
02:48
And that's what I've been working on.
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这就是我致力于创造的
02:50
I call this robotic origami,
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“全自动折纸机器人”，
简称 “折纸机器人（robogami）”。
02:53
"robogami."
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02:57
This is our first robogami transformation
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这是我十年前做的
第一代 “折纸机器人”
第一代 “折纸机器人”
03:00
that was made by me about 10 years ago.
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首次变型的过程。
03:04
From a flat-sheeted robot,
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它从一个平面
03:06
it turns into a pyramid
and back into a flat sheet
and back into a flat sheet
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变成了金字塔，然后再变回来，
03:09
and into a space shuttle.
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接着又变成航天飞机的形状。
03:12
Quite cute.
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很可爱吧!
03:14
Ten years later, with my group
of ninja origami robotic researchers --
of ninja origami robotic researchers --
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十年后的今天，我的
忍者折纸机器人研究团队——
忍者折纸机器人研究团队——
03:21
about 22 of them right now --
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我们现在大概有 22 个人——
03:24
we have a new generation of robogamis,
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已经做出了新一代的折纸机器人，
03:27
and they're a little more effective
and they do more than that.
and they do more than that.
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它的执行效率更高，
能完成的事情也更多。
能完成的事情也更多。
03:32
So the new generation of robogamis
actually serve a purpose.
actually serve a purpose.
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这代折纸机器人是有实际用途的，
03:35
For example, this one actually navigates
through different terrains autonomously.
through different terrains autonomously.
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比方说，这个机器人
能根据实际地形来自主导航。
能根据实际地形来自主导航。
03:40
So when it's a dry
and flat land, it crawls.
and flat land, it crawls.
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在干燥和平坦的地面，
它会以爬行的方式前进。
它会以爬行的方式前进。
03:46
And if it meets sudden rough terrain,
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要是地表凹凸不平，
03:48
it starts rolling.
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它就采用翻滚模式。
03:50
It does this -- it's the same robot --
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虽然是同一个机器人，
03:52
but depending on which terrain it meets,
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但现在它能根据不同地形
03:55
it activates a different sequence
of actuators that's on board.
of actuators that's on board.
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激活不同的驱动器，
从而采取不同的移动方式。
从而采取不同的移动方式。
04:02
And once it meets an obstacle,
it jumps over it.
it jumps over it.
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当它遇到障碍物时，
还能直接跳过去，
还能直接跳过去，
04:07
It does this by storing energy
in each of its legs
in each of its legs
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这是通过在机器人腿部储存
并释放能量来完成的。
并释放能量来完成的。
04:10
and releasing it and catapulting
like a slingshot.
like a slingshot.
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于是机器人
就会像弹弓一样弹起来，
就会像弹弓一样弹起来，
04:14
And it even does gymnastics.
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它甚至还能做体操动作。
04:17
Yay.
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耶！
04:18
(Laughter)
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（笑声）
04:20
So I just showed you
what a single robogami can do.
what a single robogami can do.
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你们刚刚看到了
一个折纸机器人所能实现的，
一个折纸机器人所能实现的，
04:25
Imagine what they can do as a group.
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更不用说如果有一群
这样的机器人了，
这样的机器人了，
04:27
They can join forces to tackle
more complex tasks.
more complex tasks.
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它们可以联合起来
完成更复杂的任务，
完成更复杂的任务，
04:31
Each module, either active or passive,
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每个模组，不论是主动式，
还是被动式模组，
还是被动式模组，
04:35
we can assemble them
to create different shapes.
to create different shapes.
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我们都能够组合它们
来创造出各种不同的形状。
来创造出各种不同的形状。
04:38
Not only that, by controlling
the folding joints,
the folding joints,
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不仅如此，通过控制
它们的可折叠关节，
它们的可折叠关节，
04:41
we're able to create and attack
different tasks.
different tasks.
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我们还可以创造并攻克不同的任务。
04:46
The form is making new task space.
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灵活多变的组合形状
正在开拓机器人的新任务空间。
正在开拓机器人的新任务空间。
04:49
And this time, what's most
important is the assembly.
important is the assembly.
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此时，最重要的任务便是组合。
04:54
They need to autonomously
find each other in a different space,
find each other in a different space,
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我们得让机器人能自主找到彼此，
04:58
attach and detach, depending on
the environment and task.
the environment and task.
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并根据环境和任务的需要，
合体或者分离，
合体或者分离，
05:03
And we can do this now.
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这已经实现了。
05:06
So what's next?
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那下一步是什么？
05:07
Our imagination.
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突破我们的想象力。
05:09
This is a simulation
of what you can achieve
of what you can achieve
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这是我们可以通过该模组
05:12
with this type of module.
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实现的机器人模拟。
05:13
We decided that we were going
to have a four-legged crawler
to have a four-legged crawler
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我们决定把这个四腿爬行的机器人
05:18
turn into a little dog
and make small gaits.
and make small gaits.
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变成一条小狗，
再让它小步走路。
再让它小步走路。
05:22
With the same module, we can actually
make it do something else:
make it do something else:
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同一个模组，
我们也可以做成别的东西：
我们也可以做成别的东西：
05:25
a manipulator, a typical,
classical robotic task.
classical robotic task.
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做一个机械臂，
一种典型的传统式机器人。
一种典型的传统式机器人。
05:29
So with a manipulator,
it can pick up an object.
it can pick up an object.
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机械臂，顾名思义可以抓取物品。
05:32
Of course, you can add more modules
to make the manipulator legs longer
to make the manipulator legs longer
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当然，你还可以添加
更多模组使机械臂更长，
更多模组使机械臂更长，
05:36
to attack or pick up objects
that are bigger or smaller,
that are bigger or smaller,
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来抓取更大或更小的物体，
05:39
or even have a third arm.
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或者甚至是装第三只手臂。
05:43
For robogamis, there's no
one fixed shape nor task.
one fixed shape nor task.
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折纸机器人
是没有特定的形状或功能的。
是没有特定的形状或功能的。
05:48
They can transform into anything,
anywhere, anytime.
anywhere, anytime.
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它们能随时随地变换成任何形状。
05:54
So how do you make them?
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那我们如何制造它们？
05:57
The biggest technical challenge
of robogami is keeping them super thin,
of robogami is keeping them super thin,
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技术上的最大挑战
就是实现超薄化，
就是实现超薄化，
06:02
flexible,
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具有灵活性，
06:03
but still remaining functional.
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但同时确保实用功能。
06:06
They're composed of multiple layers
of circuits, motors,
of circuits, motors,
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每个单一的机体内都是
由多层电路，马达，
由多层电路，马达，
06:10
microcontrollers and sensors,
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微控制器
06:12
all in the single body,
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以及传感器组成的。
06:14
and when you control
individual folding joints,
individual folding joints,
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在控制单个折叠接头时，
06:18
you'll be able to achieve
soft motions like that
soft motions like that
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我们的命令能让机器人
实现这样的软运动。
06:21
upon your command.
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06:26
Instead of being a single robot that is
specifically made for a single task,
specifically made for a single task,
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不像其他机器人那样
局限于单一功能，
局限于单一功能，
折纸机器人的优势在于
它可以完成多种任务。
它可以完成多种任务。
06:30
robogamis are optimized to do multi-tasks.
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06:35
And this is quite important
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这使它得以
06:37
for the difficult and unique
environments on the Earth
environments on the Earth
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在地球以及太空的
复杂独特的环境当中
复杂独特的环境当中
06:41
as well as in space.
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发挥重要的作用。
06:45
Space is a perfect
environment for robogamis.
environment for robogamis.
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太空任务再适合折纸机器人不过了，
06:49
You cannot afford to have
one robot for one task.
one robot for one task.
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给每一个任务配置一个
专属的机器人成本太高，
专属的机器人成本太高，
06:54
Who knows how many tasks
you will encounter in space?
you will encounter in space?
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谁知道我们未来会有多少太空任务？
06:58
What you want is a single robotic platform
that can transform to do multi-tasks.
that can transform to do multi-tasks.
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所以必须得有一个多功能的
机器人来完成这些任务。
机器人来完成这些任务。
07:07
What we want is a deck
of thin robogami modules
of thin robogami modules
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我们想要一套
薄型折纸机器人模组，
薄型折纸机器人模组，
07:12
that can transform to do multiples
of performing tasks.
of performing tasks.
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可以通过变形
完成各种各样的任务。
完成各种各样的任务。
07:18
And don't take my word for it,
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这不是我随便说说而已，
07:21
because the European Space Agency
and Swiss Space Center
and Swiss Space Center
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欧洲航天局和瑞士航天局
07:24
are sponsoring this exact concept.
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已经在资助这个想法了。
07:27
So here you see a couple of images
of reconfiguration of robogamis,
of reconfiguration of robogamis,
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图片上显示的就是
折纸机器人的各种不同组合，
折纸机器人的各种不同组合，
07:32
exploring the foreign land
aboveground, on the surface,
aboveground, on the surface,
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它们能在太空外星上探索，
能在地表工作，能飞天勘察，
能在地表工作，能飞天勘察，
07:36
as well as digging into the surface.
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也能深入地表以下。
07:39
It's not just exploration.
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这不仅仅是探索。
07:41
For astronauts, they need additional help,
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对于宇航员来说，
他们需要额外的帮助，
他们需要额外的帮助，
07:43
because you cannot afford
to bring interns up there, either.
to bring interns up there, either.
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因为你无法承受
送个实习生上太空的后果。
送个实习生上太空的后果。
07:46
(Laughter)
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（笑声）
07:48
They have to do every tedious task.
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他们必须完成每项繁琐的工作，
07:51
They may be simple,
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可能是很简单，
07:52
but super interactive.
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但却有极强交互性质的工作。
07:54
So you need robots
to facilitate their experiments,
to facilitate their experiments,
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得益于此，它们可以
辅助宇航员进行实验，
辅助宇航员进行实验，
07:58
assisting them with the communications
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帮助他们进行通信，
08:00
and just docking onto surfaces to be
their third arm holding different tools.
their third arm holding different tools.
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并直接附着在机舱表面，成为
宇航员第三只拿着不同工具的臂膀。
宇航员第三只拿着不同工具的臂膀。
08:07
But how will they be able
to control robogamis, for example,
to control robogamis, for example,
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但他们如何才能控制机器人呢？
例如，在太空站外。
08:10
outside the space station?
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08:11
In this case, I show a robogami
that is holding space debris.
that is holding space debris.
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在这种情况下，我展示了一个
拿着空间碎片的折纸机器人，
拿着空间碎片的折纸机器人，
08:16
You can work with your vision
so that you can control them,
so that you can control them,
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你可以通过视觉来操控机器人，
08:19
but what would be better
is having the sensation of touch
is having the sensation of touch
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但更好的是将触觉，
08:24
directly transported onto
the hands of the astronauts.
the hands of the astronauts.
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直接传递到宇航员的手上。
08:28
And what you need is a haptic device,
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此刻我们所需要的
是模拟触觉的装置，
是模拟触觉的装置，
08:30
a haptic interface that recreates
the sensation of touch.
the sensation of touch.
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一个可以重现触觉感受的模拟界面，
08:35
And using robogamis, we can do this.
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利用折纸机器人，
我们可以实现这一点。
我们可以实现这一点。
08:39
This is the world's
smallest haptic interface
smallest haptic interface
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这是全球最小的触觉模拟界面，
08:44
that can recreate a sensation of touch
just underneath your fingertip.
just underneath your fingertip.
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可以在指尖下方重现触感。
08:50
We do this by moving the robogami
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我们通过在模拟台上的
可视宏观动作
可视宏观动作
08:52
by microscopic and macroscopic
movements at the stage.
movements at the stage.
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以及肉眼不可见的微小运动
来实现这一点。
来实现这一点。
08:57
And by having this, not only
will you be able to feel
will you be able to feel
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通过这项技术，
你不仅能感受到物体的大小，
09:01
how big the object is,
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09:03
the roundness and the lines,
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圆滑度和线条，
09:06
but also the stiffness and the texture.
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还能感受到物体的硬度和质感。
09:11
Alex has this interface
just underneath his thumb,
just underneath his thumb,
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这个人机接口在艾利克斯的拇指下，
09:15
and if he were to use this
with VR goggles and hand controllers,
with VR goggles and hand controllers,
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如果再搭配使用
虚拟现实（VR）眼镜和手动控制器，
虚拟现实（VR）眼镜和手动控制器，
09:19
now the virtual reality
is no longer virtual.
is no longer virtual.
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虚拟现实就不再是虚拟的，
09:23
It becomes a tangible reality.
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而是变成了摸得到的现实。
09:28
The blue ball, red ball
and black ball that he's looking at
and black ball that he's looking at
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艾利克斯不仅能通过颜色区分
眼前的蓝、红、黑三个球，
还能通过不同材质来区分：
还能通过不同材质来区分：
09:32
is no longer differentiated by colors.
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09:34
Now it is a rubber blue ball,
sponge red ball and billiard black ball.
sponge red ball and billiard black ball.
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橡皮做的蓝球，海绵做的红球
和台球触感的黑球。
和台球触感的黑球。
09:40
This is now possible.
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同样，这已变为可能。
09:43
Let me show you.
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我为各位展示一下。
09:46
This is really the first time
this is shown live
this is shown live
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这是我们第一次
在这么多观众面前
在这么多观众面前
09:50
in front of a public grand audience,
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做现场演示，
09:53
so hopefully this works.
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希望它别出岔子。
09:55
So what you see here
is an atlas of anatomy
is an atlas of anatomy
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你们现在看到的是人体解剖图，
09:59
and the robogami haptic interface.
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以及折纸机器人的模拟界面，
10:02
So, like all the other
reconfigurable robots,
reconfigurable robots,
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跟别的折纸机器人一样，
10:05
it multitasks.
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它是多功能的，
10:06
Not only is it going to serve as a mouse,
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既能用作鼠标，
10:08
but also a haptic interface.
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又能作为触觉界面。
10:11
So for example, we have a white background
where there is no object.
where there is no object.
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比如说，鼠标所在的
空白界面中没有物体，
空白界面中没有物体，
10:15
That means there is nothing to feel,
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所以说我们什么也感受不到，
10:17
so we can have a very,
very flexible interface.
very flexible interface.
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这个界面就会非常松。
10:21
Now, I use this as a mouse
to approach skin,
to approach skin,
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现在我把它当作鼠标
放到皮肤的位置，
放到皮肤的位置，
10:24
a muscular arm,
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一个肌肉发达的手臂，
10:25
so now let's feel his biceps,
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我们感受一下他的肱二头肌，
10:27
or shoulders.
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或肩膀，
10:29
So now you see
how much stiffer it becomes.
how much stiffer it becomes.
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现在你看，它变得比较硬。
10:32
Let's explore even more.
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我们再换一个地方，
10:33
Let's approach the ribcage.
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比如肋骨，
10:36
And as soon as I move
on top of the ribcage
on top of the ribcage
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当我把鼠标移到肋骨
10:39
and between the intercostal muscles,
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和肋间肌，
10:41
which is softer and harder,
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马上感觉到它变软了，
而后又变硬。
而后又变硬。
10:43
I can feel the difference
of the stiffness.
of the stiffness.
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我能感到很明显的差别。
10:45
Take my word for it.
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我说的都是真的，
10:46
So now you see, it's much stiffer
in terms of the force
in terms of the force
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你们看现在摸起来很硬，
10:51
it's giving back to my fingertip.
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因为传到我指尖的反作用力变大了。
10:53
So I showed you the surfaces
that aren't moving.
that aren't moving.
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刚刚我摸的东西都是静止的，
要是我摸会动的东西又会怎样呢？
10:57
How about if I were to approach
something that moves,
something that moves,
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11:01
for example, like a beating heart?
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比如说，跳动的心脏，
11:03
What would I feel?
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会有什么感觉呢？
11:11
(Applause)
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（掌声）
11:19
This can be your beating heart.
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这可以是你跳动的心。
11:22
This can actually be inside your pocket
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在网购的时候，
11:25
while you're shopping online.
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你也可以把此装置放进口袋，
11:28
Now you'll be able to feel the difference
of the sweater that you're buying,
of the sweater that you're buying,
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这样你就能触摸到
你要买的毛衣的不同质地，
你要买的毛衣的不同质地，
11:32
how soft it is,
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感受一下它有多柔软，
11:33
if it's actually cashmere or not,
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感受一下它是不是纯羊毛，
11:36
or the bagel that you're trying to buy,
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还可以摸一摸你要买的百吉饼，
11:38
how hard it is or how crispy it is.
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它有多硬，或有多脆，
11:42
This is now possible.
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这一切都已成为可能。
11:46
The robotics technology is advancing
to be more personalized and adaptive,
to be more personalized and adaptive,
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折纸机器人技术正变得
越加人性化，且更具适用性，
越加人性化，且更具适用性，
11:52
to adapt to our everyday needs.
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来应对我们各类的生活需求。
11:56
This unique specie
of reconfigurable robotics
of reconfigurable robotics
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这种独特的
可自我重塑的机器人技术
可自我重塑的机器人技术
12:00
is actually the platform to provide
this invisible, intuitive interface
this invisible, intuitive interface
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是一个平台，可以通过
提供无形而直观的人机接口。
提供无形而直观的人机接口。
来满足我们确切的需求。
12:06
to meet our exact needs.
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12:10
These robots will no longer look like
the characters from the movies.
the characters from the movies.
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这些机器人将不再
局限于电影中的形象，
局限于电影中的形象，
12:14
Instead, they will be whatever
you want them to be.
you want them to be.
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它们将成为你想要的任何东西。
12:19
Thank you.
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谢谢。
12:20
(Applause)
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（掌声）
ABOUT THE SPEAKER
Jamie Paik - RoboticianSoft robotics expert Jamie Paik designs "robogamis" -- folding robots inspired by origami that are more adaptable than classical robots.
Why you should listen
As director and founder of Reconfigurable Robotics Lab (RRL), Jamie Paik taps a deep knowledge of fabrication and unique actuation solutions to create astonishing folding robots -- or, as she describes them: "robogamis. These self-morphing robotic origami transform their planar shapes to 2D or 3D by folding in predefined patterns and sequences, just like the paper art, origami.
Paik is an active promoter of soft robotics that combines multi-discipline engineering expertise. Her soft robots have commercial applications, including a robotic surgical tool and a haptic joystick that can render realistic force feedback beneath a user's fingertip.
Jamie Paik | Speaker | TED.com