TEDxNASA
Dennis Hong: My seven species of robot -- and how we created them
丹尼斯.洪（Dennis Hong）：讲述他的七种全地形机器人
Filmed:
Readability: 4.2
2,237,651 views
在TEDx美国国家航空和航天局NASA会议上，弗吉尼亚理工大学的“机器人技术与机械实验室（RoMeLa）”主任Dennis Hong，介绍了他的团队在RoMeLa所制造的七种获过奖的全地形机器人。它们中有人形的，可以踢球的DARwIn，还有可以攀岩走壁的CLIMBeR。在最后，他还告诉大家他取得如此成绩的五个秘密。其中最重要的一条是：玩得开心（Having Fun）。
Dennis Hong - Roboticist
Dennis Hong is the founder and director of RoMeLa -- a Virginia Tech robotics lab that has pioneered several breakthroughs in robot design and engineering. Full bio
Dennis Hong is the founder and director of RoMeLa -- a Virginia Tech robotics lab that has pioneered several breakthroughs in robot design and engineering. Full bio
Double-click the English transcript below to play the video.
00:15
So, the first robot to talk about is called STriDER.
0
0
3000
第一个要介绍的机器人叫STriDER(Stride迈大步，Strider迈大步者)。
00:18
It stands for Self-excited
1
3000
2000
全称是自激式三足动态实验机器人
00:20
Tripedal Dynamic Experimental Robot.
2
5000
2000
(Self-excited Tripedal Dynamic Experimental Robot)。
00:22
It's a robot that has three legs,
3
7000
2000
这种机器人
00:24
which is inspired by nature.
4
9000
3000
受自然界的启发有三条腿。
00:27
But have you seen anything in nature,
5
12000
2000
不过您在自然界中
00:29
an animal that has three legs?
6
14000
2000
见过三条腿的动物吗？
00:31
Probably not. So, why do I call this
7
16000
2000
应该没有。
00:33
a biologically inspired robot? How would it work?
8
18000
2000
那我们为什么要称其为仿生机器人呢？运作原理是什么呢？
00:35
But before that, let's look at pop culture.
9
20000
3000
说之前，先看看当下流行文化。
00:38
So, you know H.G. Wells' "War of the Worlds," novel and movie.
10
23000
3000
您应该知道赫伯特·乔治·威尔斯（H.G. Wells）的小说《世界大战》，以及由此改编的电影。
00:41
And what you see over here is a very popular
11
26000
2000
您现在看到的是一款流行
00:43
video game,
12
28000
2000
视频游戏。
00:45
and in this fiction they describe these alien creatures that
13
30000
3000
在小说里，威胁地球的外星生物
00:48
are robots that have three legs that terrorize Earth.
14
33000
2000
被描述成三足机器人。
00:50
But my robot, STriDER, does not move like this.
15
35000
4000
不过我的机器人，STriDER，不是这样移动的。
00:54
So, this is an actual dynamic simulation animation.
16
39000
3000
这是一段真实的动态仿真动画。
00:57
I'm just going to show you how the robot works.
17
42000
2000
我要展示的是机器人是如何移动行走的。
00:59
It flips its body 180 degrees
18
44000
3000
空中转体180度。
01:02
and it swings its leg between the two legs and catches the fall.
19
47000
3000
其中一条腿，在另两条腿中间荡秋千。
01:05
So, that's how it walks. But when you look at us
20
50000
2000
这是他的行走方式。不过研究一下
01:07
human being, bipedal walking,
21
52000
2000
我们人类的两足行走，
01:09
what you're doing is you're not really using a muscle
22
54000
2000
人类不是用肌肉
01:11
to lift your leg and walk like a robot. Right?
23
56000
3000
提起一条腿迈出去，像机器人那样。对吧？
01:14
What you're doing is you really swing your leg and catch the fall,
24
59000
3000
我们实际上是把一条腿荡出去，然后落地，
01:17
stand up again, swing your leg and catch the fall.
25
62000
3000
站稳，然后再荡腿...落地...。
01:20
You're using your built-in dynamics, the physics of your body,
26
65000
3000
使用您的身体内置动力，身体动力
01:23
just like a pendulum.
27
68000
2000
就像一个钟摆。
01:25
We call that the concept of passive dynamic locomotion.
28
70000
4000
我们称之为被动动力运动概念。
01:29
What you're doing is, when you stand up,
29
74000
2000
身体直立情况下，您所做的就是
01:31
potential energy to kinetic energy,
30
76000
2000
把势能转变
01:33
potential energy to kinetic energy.
31
78000
2000
为动能。
01:35
It's a constantly falling process.
32
80000
2000
这是一个不断下落的过程。
01:37
So, even though there is nothing in nature that looks like this,
33
82000
3000
所以，虽然自然界中没有三足动物，
01:40
really, we were inspired by biology
34
85000
2000
实际上我们还是受到了生物的启发
01:42
and applying the principles of walking
35
87000
2000
把这套原理运用于这种机器人，
01:44
to this robot. Thus it's a biologically inspired robot.
36
89000
3000
所以它是仿生机器人。
01:47
What you see over here, this is what we want to do next.
37
92000
2000
您这里所见的就是我们下一步的目标。
01:49
We want to fold up the legs and shoot it up for long-range motion.
38
94000
4000
我们要让机器人把腿像弹簧一样折叠起来，然后弹射出去，做长距离运动。
01:53
And it deploys legs -- it looks almost like "Star Wars" --
39
98000
3000
然后展开腿，就像星球大战一样。
01:56
when it lands, it absorbs the shock and starts walking.
40
101000
3000
落地有，机器人的三条腿吸收落地震动，然后开始步行。
01:59
What you see over here, this yellow thing, this is not a death ray. (Laughter)
41
104000
3000
这里面黄色的区域，不是死光。
02:02
This is just to show you that if you have cameras
42
107000
2000
这演示的是装有一部摄像机
02:04
or different types of sensors --
43
109000
2000
或者其他类型的传感器，
02:06
because it is tall, it's 1.8 meters tall --
44
111000
2000
因为机器人个高，有1.8米高，
02:08
you can see over obstacles like bushes and those kinds of things.
45
113000
3000
可以从灌木丛之类的障碍物上方露出头观察。
02:11
So we have two prototypes.
46
116000
2000
我们有两种型号的原型机。
02:13
The first version, in the back, that's STriDER I.
47
118000
3000
第一个型号，在后面，那是STriDER I型。
02:16
The one in front, the smaller, is STriDER II.
48
121000
2000
前面那个，小一点儿的，是STriDER II型。
02:18
The problem that we had with STriDER I is
49
123000
2000
STriDER I型遇到的问题是
02:20
it was just too heavy in the body. We had so many motors,
50
125000
3000
机器人太重了。我们装了太多的马达，
02:23
you know, aligning the joints, and those kinds of things.
51
128000
2000
诸如调整关节之类的东西。
02:25
So, we decided to synthesize a mechanical mechanism
52
130000
4000
所以，我们决定综合成一个机械机构，
02:29
so we could get rid of all the motors, and with a single motor
53
134000
3000
我们就可以用一部马达，代替所有的马达，
02:32
we can coordinate all the motions.
54
137000
2000
我们就可以协调所有的动作。
02:34
It's a mechanical solution to a problem, instead of using mechatronics.
55
139000
3000
这是用机械解决办法，代替机电一体化。
02:37
So, with this now the top body is light enough. So, it's walking in our lab;
56
142000
3000
所以现在机器人上部机体就够轻巧了，可以在实验室内走路。
02:40
this was the very first successful step.
57
145000
3000
这是向成功迈出第一步。
02:43
It's still not perfected -- its coffee falls down --
58
148000
2000
还不完美。这个实验机器人摔倒了，
02:45
so we still have a lot of work to do.
59
150000
3000
所以后面还有我们忙的。
02:48
The second robot I want to talk about is called IMPASS.
60
153000
3000
第二个要介绍的机器人缩写是IMPASS。
02:51
It stands for Intelligent Mobility Platform with Actuated Spoke System.
61
156000
4000
它带有驱动辐条系统的智能移动平台（Intelligent Mobility Platform with Actuated Spoke System）。
02:55
So, it's a wheel-leg hybrid robot.
62
160000
3000
它是一种“轮-腿“混合机器人。
02:58
So, think of a rimless wheel
63
163000
2000
无框轮，
03:00
or a spoke wheel,
64
165000
2000
或者叫辐条轮。
03:02
but the spokes individually move in and out of the hub;
65
167000
3000
每个辐条都可以缩进缩出轮毂。
03:05
so, it's a wheel-leg hybrid.
66
170000
2000
所以它是”轮腿”混合机器人。
03:07
We are literally re-inventing the wheel here.
67
172000
2000
我们又重新发明了一种轮子。
03:09
Let me demonstrate how it works.
68
174000
3000
让我演示一下工作原理。
03:12
So, in this video we're using an approach
69
177000
2000
这段视频中我们用了一种方法
03:14
called the reactive approach.
70
179000
2000
被称为响应式方法。
03:16
Just simply using the tactile sensors on the feet,
71
181000
3000
只在利用足部的触觉传感器，
03:19
it's trying to walk over a changing terrain,
72
184000
2000
这机器人在崎岖不平的地形行走，
03:21
a soft terrain where it pushes down and changes.
73
186000
3000
地面柔软，随着它的下压而改变。
03:24
And just by the tactile information,
74
189000
2000
仅依靠足部传感器的信息，
03:26
it successfully crosses over these type of terrain.
75
191000
3000
它成功的跨越了这些地形。
03:29
But, when it encounters a very extreme terrain,
76
194000
4000
不过，它遇到极端地形时，
03:33
in this case, this obstacle is more than three times
77
198000
3000
如视频中显示的，一个三倍于
03:36
the height of the robot,
78
201000
2000
机器人高度的障碍物，
03:38
Then it switches to a deliberate mode,
79
203000
2000
它会切换到谨慎模式，
03:40
where it uses a laser range finder,
80
205000
2000
这里机器人利用激光测距仪，
03:42
and camera systems, to identify the obstacle and the size,
81
207000
2000
和摄像系统，来找出障碍和测量大小，
03:44
and it plans, carefully plans the motion of the spokes
82
209000
3000
作出相应的对策，仔细的策划辐条的动作，
03:47
and coordinates it so that it can show this
83
212000
2000
同时协调好各部分动作，这样显示出
03:49
kind of very very impressive mobility.
84
214000
2000
令人惊讶的机动性。
03:51
You probably haven't seen anything like this out there.
85
216000
2000
你可能从来没有见过这样的机器人。
03:53
This is a very high mobility robot
86
218000
3000
这是一部机动性很高的机器人
03:56
that we developed called IMPASS.
87
221000
3000
这就是我们开发的，叫做IMPASS的机器人。
03:59
Ah, isn't that cool?
88
224000
2000
很酷吧？
04:01
When you drive your car,
89
226000
3000
您开车的时候，
04:04
when you steer your car, you use a method
90
229000
2000
转动方向盘，这种方式
04:06
called Ackermann steering.
91
231000
2000
叫阿克曼转向。
04:08
The front wheels rotate like this.
92
233000
2000
前轮像这样转动。
04:10
For most small wheeled robots,
93
235000
3000
对于那些小型轮式机器人，
04:13
they use a method called differential steering
94
238000
2000
它们一般采用差速转向，
04:15
where the left and right wheel turns the opposite direction.
95
240000
3000
也就是左轮和右轮向相反方向转动。
04:18
For IMPASS, we can do many, many different types of motion.
96
243000
3000
对于IMPASS机器人，我们可以采用不同方式的转向运动。
04:21
For example, in this case, even though the left and right wheel is connected
97
246000
3000
如视频中演示的那样，它的左右轮连接在一个轴上，
04:24
with a single axle rotating at the same angle of velocity.
98
249000
2000
以同样的转速转动。
04:26
We just simply change the length of the spoke.
99
251000
3000
不同的是，我们依靠调解辐条的长度实现转向。
04:29
It affects the diameter and then can turn to the left, turn to the right.
100
254000
2000
辐条长度的变化改变了辐条轮的直径大小，以此实现左右转弯。
04:31
So, these are just some examples of the neat things
101
256000
2000
这些只是一些IMPASS可以做的巧妙动作
04:33
that we can do with IMPASS.
102
258000
3000
的事例。
04:36
This robot is called CLIMBeR:
103
261000
2000
这个机器人叫CLIMBeR(攀登者)，
04:38
Cable-suspended Limbed Intelligent Matching Behavior Robot.
104
263000
3000
全称是：钢缆吊肢智能匹配行为机器人(Cable-suspended Limbed Intelligent Matching Behavior Robot.)。
04:41
So, I've been talking to a lot of NASA JPL scientists --
105
266000
3000
我曾和许多NASA喷气推进实验室的科学家们聊过，
04:44
at JPL they are famous for the Mars rovers --
106
269000
2000
在喷气推进实验室，最出名的就是火星车。
04:46
and the scientists, geologists always tell me
107
271000
2000
科学家们和地质学家们经常告诉我，
04:48
that the real interesting science,
108
273000
3000
真正有趣的科学、
04:51
the science-rich sites, are always at the cliffs.
109
276000
3000
富含科学知识的地点就是在悬崖峭壁上。
04:54
But the current rovers cannot get there.
110
279000
2000
不过目前火星车还探测不了峭壁。
04:56
So, inspired by that we wanted to build a robot
111
281000
2000
受此启发，我们要建造一台
04:58
that can climb a structured cliff environment.
112
283000
3000
攀登峭壁的机器人。
05:01
So, this is CLIMBeR.
113
286000
2000
那就是CLIMBeR机器人。
05:03
So, what it does, it has three legs. It's probably difficult to see,
114
288000
2000
它有三条腿。可能很难看到，
05:05
but it has a winch and a cable at the top --
115
290000
3000
但它顶部有一个绞盘，一条钢缆。
05:08
and it tries to figure out the best place to put its foot.
116
293000
2000
它正在测算最好的立足点。
05:10
And then once it figures that out
117
295000
2000
一旦测算好，
05:12
in real time, it calculates the force distribution:
118
297000
3000
它会实时计算出力的分布。
05:15
how much force it needs to exert to the surface
119
300000
3000
计算出需要施加多大的力，
05:18
so it doesn't tip and doesn't slip.
120
303000
2000
确保不翻下来，不打滑。
05:20
Once it stabilizes that, it lifts a foot,
121
305000
2000
一旦稳定下来，抬起一条腿，
05:22
and then with the winch it can climb up these kinds of thing.
122
307000
4000
然后利用绞盘，可以向上爬一点点。
05:26
Also for search and rescue applications as well.
123
311000
2000
也可以应用在搜索和救援工作上。
05:28
Five years ago I actually worked at NASA JPL
124
313000
2000
五年前，我夏季在NASA喷气推进实验室
05:30
during the summer as a faculty fellow.
125
315000
2000
做教员研究员。
05:32
And they already had a six legged robot called LEMUR.
126
317000
4000
他们有个六足机器人，称作LEMUR。
05:36
So, this is actually based on that. This robot is called MARS:
127
321000
3000
基于此我们开发一台机器人，称作MARS(Mars, 火星)
05:39
Multi-Appendage Robotic System. So, it's a hexapod robot.
128
324000
3000
多附体机器人系统（Multi-Appendage Robotic System）。它是一种六足机器人。
05:42
We developed our adaptive gait planner.
129
327000
2000
我们开发了自适应步态规划软件。
05:44
We actually have a very interesting payload on there.
130
329000
2000
我们放了一个十分有趣的有效载荷。
05:46
The students like to have fun. And here you can see that it's
131
331000
2000
学生们喜欢有趣的机器人。您可以看到
05:48
walking over unstructured terrain.
132
333000
3000
机器人在不规则地形上行走。
05:51
It's trying to walk on the coarse terrain,
133
336000
2000
它试图在粗糙地形上行走，
05:53
sandy area,
134
338000
2000
沙地上，
05:55
but depending on the moisture content or the grain size of the sand
135
340000
5000
取决于水分含量或沙粒大小的
06:00
the foot's soil sinkage model changes.
136
345000
2000
脚下的泥土下沉模式变化。
06:02
So, it tries to adapt its gait to successfully cross over these kind of things.
137
347000
4000
机器人自适应的调整步态以便成功翻越这类地形。
06:06
And also, it does some fun stuff, as can imagine.
138
351000
2000
除此之外，它还可以做出一些搞笑的事。
06:08
We get so many visitors visiting our lab.
139
353000
3000
我们的实验室有很多参观者。
06:11
So, when the visitors come, MARS walks up to the computer,
140
356000
2000
有参观者来的时候，MARS机器人会走到计算机旁边，
06:13
starts typing "Hello, my name is MARS."
141
358000
2000
并输入“你好！我叫MARS。”
06:15
Welcome to RoMeLa,
142
360000
2000
欢迎来到RoMeLa，
06:17
the Robotics Mechanisms Laboratory at Virginia Tech.
143
362000
4000
弗吉尼亚理工大学的“机器人技术与机械实验室（RoMeLa）。
06:21
This robot is an amoeba robot.
144
366000
2000
这个机器人是一个变形虫机器人。
06:23
Now, we don't have enough time to go into technical details,
145
368000
3000
我们没有时间讲述技术细节，
06:26
I'll just show you some of the experiments.
146
371000
2000
我将展示些实验。
06:28
So, this is some of the early feasibility experiments.
147
373000
2000
这是一些早期的可行性实验。
06:30
We store potential energy to the elastic skin to make it move.
148
375000
4000
弹性表皮上存有势能，使之移动。
06:34
Or use an active tension cords to make it move
149
379000
2000
利用一个有张力绳子
06:36
forward and backward. It's called ChIMERA.
150
381000
3000
使之前进和后退。它被称为嵌合体(ChIMERA)。
06:39
We also have been working with some scientists
151
384000
2000
我们还和来自宾州大学的科学家
06:41
and engineers from UPenn
152
386000
2000
和工程师合作，
06:43
to come up with a chemically actuated version
153
388000
2000
开发出化学驱动版本的
06:45
of this amoeba robot.
154
390000
2000
变形虫机器人。
06:47
We do something to something
155
392000
2000
我们鼓捣一下，
06:49
And just like magic, it moves. The blob.
156
394000
6000
然后，就像变魔术，它移动了。就像科幻电影The Blob。
06:55
This robot is a very recent project. It's called RAPHaEL.
157
400000
2000
这个机器人是最近的项目。它叫RAPHaEL
06:57
Robotic Air Powered Hand with Elastic Ligaments.
158
402000
3000
带有弹性韧带的气压机器手臂 (Robotic Air Powered Hand with Elastic Ligaments)。
07:00
There are a lot of really neat, very good robotic hands out there in the market.
159
405000
4000
市面上有不少不错的机器手臂。
07:04
The problem is they're just too expensive, tens of thousands of dollars.
160
409000
4000
不过动辄就要几万美元太贵了。
07:08
So, for prosthesis applications it's probably not too practical,
161
413000
2000
对于假肢应用可能不太现实，
07:10
because it's not affordable.
162
415000
2000
因为太贵了。
07:12
We wanted to go tackle this problem in a very different direction.
163
417000
4000
我们想到一个非常不同的方法去解决这个问题。
07:16
Instead of using electrical motors, electromechanical actuators,
164
421000
3000
不使用电动马达，机电执行器，
07:19
we're using compressed air.
165
424000
2000
而是用压缩空气作动力。
07:21
We developed these novel actuators for joints.
166
426000
2000
我们开发这些新型驱动器的关节。
07:23
It is compliant. You can actually change the force,
167
428000
3000
它是兼容的。你其实可以通过调节气压
07:26
simply just changing the air pressure.
168
431000
2000
就很容易地来改变驱动力的大小。
07:28
And it can actually crush an empty soda can.
169
433000
2000
它的力气可以压扁一个空可乐罐。
07:30
It can pick up very delicate objects like a raw egg,
170
435000
3000
也可以握住易碎的物体，如生鸡蛋
07:33
or in this case, a lightbulb.
171
438000
3000
或如这展示的电灯泡。
07:36
The best part, it took only $200 dollars to make the first prototype.
172
441000
4000
最棒的是，这个原型机仅花费200美元。
07:40
This robot is actually a family of snake robots
173
445000
3000
这部机器人实际上是一系列蛇形机器人，
07:43
that we call HyDRAS,
174
448000
2000
我们称之为HyDRAS，
07:45
Hyper Degrees-of-freedom Robotic Articulated Serpentine.
175
450000
2000
高自由度铰接式蛇形机器人（Hyper Degrees-of-freedom Robotic Articulated Serpentine）。
07:47
This is a robot that can climb structures.
176
452000
3000
这是一个可以攀爬的机器人。
07:50
This is a HyDRAS's arm.
177
455000
2000
这是一个HyDRAS型机器臂。
07:52
It's a 12 degrees of freedom robotic arm.
178
457000
2000
它有12个自由度的机器臂。
07:54
But the cool part is the user interface.
179
459000
2000
不过最酷的是用户接口。
07:56
The cable over there, that's an optical fiber.
180
461000
3000
这些电缆是光纤。
07:59
And this student, probably the first time using it,
181
464000
2000
这名学生，可能是第一次使用，
08:01
but she can articulate it many different ways.
182
466000
2000
她可以用很多不同的方法操作。
08:03
So, for example in Iraq, you know, the war zone,
183
468000
3000
例如在伊拉克，在战区，
08:06
there is roadside bombs. Currently you send these
184
471000
2000
常有路边炸弹。
08:08
remotely controlled vehicles that are armed.
185
473000
3000
目前，派出的是遥控武装车辆。
08:11
It takes really a lot of time and it's expensive
186
476000
2000
它需要很多时间和花费
08:13
to train the operator to operate this complex arm.
187
478000
4000
来培训控制这复杂武装车辆的操作员。
08:17
In this case it's very intuitive;
188
482000
2000
在这种情况下，这个机器手臂很直观。
08:19
this student, probably his first time using it, doing very complex manipulation tasks,
189
484000
4000
这名学生可能是第一次使用，就能完成复杂的操作任务，
08:23
picking up objects and doing manipulation,
190
488000
2000
拾取物体，操作，
08:25
just like that. Very intuitive.
191
490000
3000
就像这样，非常直观。
08:30
Now, this robot is currently our star robot.
192
495000
2000
这部机器人，是我们的明星机器人。
08:32
We actually have a fan club for the robot, DARwIn:
193
497000
3000
我们有个DARwIn机器人兴趣小组，
08:35
Dynamic Anthropomorphic Robot with Intelligence.
194
500000
3000
智能动力人形机器人(Dynamic Anthropomorphic Robot With Intelligence)。
08:38
As you know, we are very interested in
195
503000
2000
我们对人形机器人，
08:40
humanoid robot, human walking,
196
505000
2000
人类行走机器人，非常感兴趣，
08:42
so we decided to build a small humanoid robot.
197
507000
2000
我们决定造一个小型人形机器人。
08:44
This was in 2004; at that time,
198
509000
2000
在2004年，那时
08:46
this was something really, really revolutionary.
199
511000
2000
这是革命性的东西。
08:48
This was more of a feasibility study:
200
513000
2000
更多的是可行性研究，
08:50
What kind of motors should we use?
201
515000
2000
应该选用什么样的马达？
08:52
Is it even possible? What kinds of controls should we do?
202
517000
2000
可行吗？我们做什么样的控制？
08:54
So, this does not have any sensors.
203
519000
2000
这个机器人没有传感器。
08:56
So, it's an open loop control.
204
521000
2000
它是开环控制。
08:58
For those who probably know, if you don't have any sensors
205
523000
2000
如您所知，如果没有控制器
09:00
and there are any disturbances, you know what happens.
206
525000
2000
稍有扰动就会出问题。
09:05
(Laughter)
207
530000
1000
（笑声）
09:06
So, based on that success, the following year
208
531000
2000
基于此，翌年，
09:08
we did the proper mechanical design
209
533000
3000
我们做了正确的机械设计，
09:11
starting from kinematics.
210
536000
2000
从运动学开始。
09:13
And thus, DARwIn I was born in 2005.
211
538000
2000
2005年，DARwIn I型诞生。
09:15
It stands up, it walks -- very impressive.
212
540000
2000
站立，行走，令人印象深刻。
09:17
However, still, as you can see,
213
542000
2000
然而，如你所见
09:19
it has a cord, umbilical cord. So, we're still using an external power source
214
544000
4000
它是有线的，还有一条脐带。我们还是用的外部电源，
09:23
and external computation.
215
548000
2000
以及外部运算。
09:25
So, in 2006, now it's really time to have fun.
216
550000
4000
2006年，正是时候可以找乐子了。
09:29
Let's give it intelligence. We give it all the computing power it needs:
217
554000
3000
给他智能。我们给它所需的计算能力，
09:32
a 1.5 gigahertz Pentium M chip,
218
557000
2000
1.5GHz的Pentium M处理器，
09:34
two FireWire cameras, rate gyros, accelerometers,
219
559000
2000
两个火线（IEEE1394）摄像头,8个陀螺仪，一个加速度计，
09:36
four force sensors on the foot, lithium polymer batteries.
220
561000
3000
足部四个力矩传感器，锂电池。
09:39
And now DARwIn II is completely autonomous.
221
564000
4000
DARwIn II是全部自主式的。
09:43
It is not remote controlled.
222
568000
2000
不用远程遥控。
09:45
There are no tethers. It looks around, searches for the ball,
223
570000
3000
没有外接连线。它查看四周，寻找球，
09:48
looks around, searches for the ball, and it tries to play a game of soccer,
224
573000
3000
再查看四周，寻找球，试着踢足球，
09:51
autonomously: artificial intelligence.
225
576000
3000
自主式的踢球，实现人工智能。
09:54
Let's see how it does. This was our very first trial,
226
579000
3000
看看它的能耐。这是我们第一次测试，
09:57
and... Spectators (Video): Goal!
227
582000
5000
视频：进球了！
10:03
Dennis Hong: So, there is actually a competition called RoboCup.
228
588000
3000
有个竞赛叫机器人世界杯赛。
10:06
I don't know how many of you have heard about RoboCup.
229
591000
2000
我不知道你们知不知道机器人世界杯赛。
10:08
It's an international autonomous robot soccer competition.
230
593000
5000
机器人世界杯赛是自主式机器人足球赛事。
10:13
And the goal of RoboCup, the actual goal is,
231
598000
3000
机器人世界杯赛的目标是，
10:16
by the year 2050
232
601000
2000
到2050年
10:18
we want to have full size, autonomous humanoid robots
233
603000
3000
我们有人类大小的自主式人形机器人
10:21
play soccer against the human World Cup champions
234
606000
4000
与人类的世界杯冠军队进行足球比赛
10:25
and win.
235
610000
2000
而且要胜利。
10:27
It's a true actual goal. It's a very ambitious goal,
236
612000
2000
非常实际的目标。非常有野心的目标，
10:29
but we truly believe that we can do it.
237
614000
2000
我们认为我们可以做到。
10:31
So, this is last year in China.
238
616000
3000
去年在中国。
10:34
We were the very first team in the United States that qualified
239
619000
2000
我们是美国在人形机器人比赛获得比赛资格的
10:36
in the humanoid RoboCup competition.
240
621000
2000
第一个团队。
10:38
This is this year in Austria.
241
623000
3000
今年在奥地利举行。
10:41
You're going to see the action, three against three,
242
626000
2000
三对三
10:43
completely autonomous.
243
628000
2000
完全自主的机器人。
10:45
There you go. Yes!
244
630000
2000
不错。很好！
10:48
The robots track and they
245
633000
2000
机器人跟踪，踢球，
10:50
team play amongst themselves.
246
635000
3000
组队对抗。
10:53
It's very impressive. It's really a research event
247
638000
2000
令人印象深刻。这实际上是
10:55
packaged in a more exciting competition event.
248
640000
4000
裹着竞赛外衣的科研工作。
10:59
What you see over here, this is the beautiful
249
644000
2000
这张照片是漂亮的
11:01
Louis Vuitton Cup trophy.
250
646000
2000
奖杯（Louis Vuitton Cup路易威登提供的奖杯）。
11:03
So, this is for the best humanoid,
251
648000
2000
这是颁发给最佳人形机器人的，
11:05
and we would like to bring this for the very first time, to the United States
252
650000
2000
明年我们希望可以首次把它带回美国，
11:07
next year, so wish us luck.
253
652000
2000
希望我们走运。
11:09
(Applause)
254
654000
2000
谢谢。
11:11
Thank you.
255
656000
3000
（掌声）
11:14
DARwIn also has a lot of other talents.
256
659000
2000
DARwIn还有其他的才能。
11:16
Last year it actually conducted the Roanoke Symphony Orchestra
257
661000
3000
去年假日音乐会上，它实际指挥罗阿诺克
11:19
for the holiday concert.
258
664000
3000
交响乐团。
11:22
This is the next generation robot, DARwIn IV,
259
667000
3000
这是下一代，DARwIn四型，
11:25
but smarter, faster, stronger.
260
670000
3000
更小，更快，更有力。
11:28
And it's trying to show off its ability:
261
673000
2000
它正在展示它的能力。
11:30
"I'm macho, I'm strong.
262
675000
3000
“我是男子汉，我很结实。”
11:33
I can also do some Jackie Chan-motion,
263
678000
3000
我可以做些成龙式的
11:36
martial art movements."
264
681000
3000
武术动作。
11:39
(Laughter)
265
684000
2000
（笑声）
11:41
And it walks away. So, this is DARwIn IV.
266
686000
2000
它走开。这是DARwIn四型，
11:43
And again, you'll be able to see it in the lobby.
267
688000
2000
你可以在大厅里看到。
11:45
We truly believe this is going to be the very first running
268
690000
2000
我们确信这将是第一个运行
11:47
humanoid robot in the United States. So, stay tuned.
269
692000
3000
在美国的人形机器人。因此，敬请关注。
11:50
All right. So I showed you some of our exciting robots at work.
270
695000
3000
好了，我展示给大家我们有趣的机器人。
11:53
So, what is the secret of our success?
271
698000
3000
那么我们成功的秘诀是什么呢？
11:56
Where do we come up with these ideas?
272
701000
2000
我们从哪里想出这些点子呢？
11:58
How do we develop these kinds of ideas?
273
703000
2000
我们如何发展这些点子呢？
12:00
We have a fully autonomous vehicle
274
705000
2000
我们有全自主式车辆
12:02
that can drive into urban environments. We won a half a million dollars
275
707000
2000
可以穿行在城市里。我们赢了DARPA挑战赛的50万
12:04
in the DARPA Urban Challenge.
276
709000
2000
美元。
12:06
We also have the world's very first
277
711000
2000
我们有世界上第一辆
12:08
vehicle that can be driven by the blind.
278
713000
2000
盲人驾驶汽车。
12:10
We call it the Blind Driver Challenge, very exciting.
279
715000
2000
我们称之为，盲人驾驶员的挑战，
12:12
And many, many other robotics projects I want to talk about.
280
717000
4000
还有许多其他的机器人项目。
12:16
These are just the awards that we won in 2007 fall
281
721000
2000
这些是2007年秋天我们赢得的奖项，
12:18
from robotics competitions and those kinds of things.
282
723000
3000
从机器人竞赛之类的活动中取得的。
12:21
So, really, we have five secrets.
283
726000
2000
实际上我们有5个秘诀。
12:23
First is: Where do we get inspiration?
284
728000
2000
第一，我们从哪里得到的启发，
12:25
Where do we get this spark of imagination?
285
730000
2000
从哪里得到灵感的？
12:27
This is a true story, my personal story.
286
732000
3000
这是我个人切身经历的。
12:30
At night when I go to bed, 3 - 4 a.m. in the morning,
287
735000
2000
凌晨三四点钟的时候我上床睡觉，
12:32
I lie down, close my eyes, and I see these lines and circles
288
737000
3000
我躺下，闭上眼睛，一些线环
12:35
and different shapes floating around.
289
740000
2000
和其他形状的东西浮现在脑海中，
12:37
And they assemble, and they form these kinds of mechanisms.
290
742000
3000
拼凑起来，它们组成了一些机器。
12:40
And then I think, "Ah this is cool."
291
745000
2000
然后我想，“这个很棒。”
12:42
So, right next to my bed I keep a notebook,
292
747000
2000
就在我的床头有一个记事本，
12:44
a journal, with a special pen that has a light on it, LED light,
293
749000
3000
日记，带有一个特殊的配有LED灯光的钢笔，
12:47
because I don't want to turn on the light and wake up my wife.
294
752000
2000
因为我不想开灯弄醒我的妻子。
12:49
So, I see this, scribble everything down, draw things,
295
754000
2000
我看到这些绘图，涂鸦上我的想法，
12:51
and I go to bed.
296
756000
2000
然后睡觉。
12:53
Every day in the morning,
297
758000
2000
每天早上，
12:55
the first thing I do before my first cup of coffee,
298
760000
2000
喝咖啡刷牙之前的第一件事，
12:57
before I brush my teeth, I open my notebook.
299
762000
2000
我打开笔记本。
12:59
Many times it's empty,
300
764000
2000
通常是空的，
13:01
sometimes I have something there -- if something's there, sometimes it's junk --
301
766000
2000
有时候，就是一些胡写乱画上去的，
13:03
but most of the time I can't even read my handwriting.
302
768000
3000
有时候，我都看不懂我的笔迹。
13:06
And so, 4 am in the morning, what do you expect, right?
303
771000
3000
凌晨4点写的东西，你说能好到哪里去？
13:09
So, I need to decipher what I wrote.
304
774000
2000
我得辨识我的潦草字迹。
13:11
But sometimes I see this ingenious idea in there,
305
776000
3000
有时候，我会看到巧妙的点子，
13:14
and I have this eureka moment.
306
779000
2000
我就有了这种瞬间灵感Eureka。（Eureka阿基米德发现浮力后喊道的）
13:16
I directly run to my home office, sit at my computer,
307
781000
2000
我直接跑到书房去，坐在计算机旁边，
13:18
I type in the ideas, I sketch things out
308
783000
2000
输入下我的点子，我勾画出来的东西，
13:20
and I keep a database of ideas.
309
785000
3000
我有一个点子数据库。
13:23
So, when we have these calls for proposals,
310
788000
2000
当我们需要建议的时候，
13:25
I try to find a match between my
311
790000
2000
我就会在我的潜在点子库中找合适的
13:27
potential ideas
312
792000
2000
点子，
13:29
and the problem. If there is a match we write a research proposal,
313
794000
2000
如果匹配我就写一个研究建议，
13:31
get the research funding in, and that's how we start our research programs.
314
796000
4000
获得研究经费，这就是我们如何开始我们的研究计划。
13:35
But just a spark of imagination is not good enough.
315
800000
3000
仅仅是一丝灵感，还不够。
13:38
How do we develop these kinds of ideas?
316
803000
2000
我们如何发展这些点子呢？
13:40
At our lab RoMeLa, the Robotics and Mechanisms Laboratory,
317
805000
3000
在机器人技术与机械实验室（RoMeLa），
13:43
we have these fantastic brainstorming sessions.
318
808000
3000
我们有这个神奇的头脑风暴会议。
13:46
So, we gather around, we discuss about problems
319
811000
2000
我们聚在一起讨论问题，
13:48
and social problems and talk about it.
320
813000
2000
社会问题，诸如此类的。
13:50
But before we start we set this golden rule.
321
815000
3000
讨论之前，我们设定一个规矩。
13:53
The rule is:
322
818000
2000
规矩是：
13:55
Nobody criticizes anybody's ideas.
323
820000
3000
不准批评别人的点子。
13:58
Nobody criticizes any opinion.
324
823000
2000
不准指责任何意见。
14:00
This is important, because many times students, they fear
325
825000
2000
这很重要，因为，很多时候，学生们
14:02
or they feel uncomfortable how others might think
326
827000
3000
害怕别人
14:05
about their opinions and thoughts.
327
830000
2000
批评他们的点子或主意。
14:07
So, once you do this, it is amazing
328
832000
2000
一旦你这样做，
14:09
how the students open up.
329
834000
2000
你就会惊异地发现学生们的创造力。
14:11
They have these wacky, cool, crazy, brilliant ideas, and
330
836000
3000
他们有光怪陆离的点子，
14:14
the whole room is just electrified with creative energy.
331
839000
3000
整个房间里充满了创意能量。
14:17
And this is how we develop our ideas.
332
842000
3000
这是我们如何发展这些点子的。
14:20
Well, we're running out of time. One more thing I want to talk about is,
333
845000
3000
时间不够了，我再说一点
14:23
you know, just a spark of idea and development is not good enough.
334
848000
4000
只有点子和拓展是不够的。
14:27
There was a great TED moment,
335
852000
2000
有一个TED瞬间，
14:29
I think it was Sir Ken Robinson, was it?
336
854000
3000
我想他是Ken Robinson，对吗？
14:32
He gave a talk about how education
337
857000
2000
他在TED讲过
14:34
and school kills creativity.
338
859000
2000
学校教育扼杀了创造力。
14:36
Well, actually, there are two sides to the story.
339
861000
3000
实际上，这是有正负两面性的。
14:39
So, there is only so much one can do
340
864000
3000
人们只能做这么多，
14:42
with just ingenious ideas
341
867000
2000
非凡的点子
14:44
and creativity and good engineering intuition.
342
869000
3000
和有创造力的工程直觉。
14:47
If you want to go beyond a tinkering,
343
872000
2000
如果你想超越，
14:49
if you want to go beyond a hobby of robotics
344
874000
2000
超越机器人爱好
14:51
and really tackle the grand challenges of robotics
345
876000
3000
真正通过枯燥的研究应对机器人学的
14:54
through rigorous research
346
879000
2000
巨大挑战，
14:56
we need more than that. This is where school comes in.
347
881000
3000
我们需要更多的东西。这些东西都是学校教的。
14:59
Batman, fighting against bad guys,
348
884000
3000
蝙蝠侠和坏人战斗，
15:02
he has his utility belt, he has his grappling hook,
349
887000
2000
蝙蝠侠有著名的万能腰带、绳钩，
15:04
he has all different kinds of gadgets.
350
889000
2000
还有其他的小玩意儿。
15:06
For us roboticists, engineers and scientists,
351
891000
2000
对于我们，机器人学家，工程师，科学家，
15:08
these tools, these are the courses and classes you take in class.
352
893000
5000
这些工具就是在教室里的课程。
15:13
Math, differential equations.
353
898000
2000
数学，微分方程。
15:15
I have linear algebra, science, physics,
354
900000
2000
线性代数，科学，物理，
15:17
even nowadays, chemistry and biology, as you've seen.
355
902000
3000
更有，今天讲到的诸如化学，生物学。
15:20
These are all the tools that we need.
356
905000
2000
这些都是我们需要的工具。
15:22
So, the more tools you have, for Batman,
357
907000
2000
工具越多，
15:24
more effective at fighting the bad guys,
358
909000
2000
蝙蝠侠才能更有效的对抗坏人，
15:26
for us, more tools to attack these kinds of big problems.
359
911000
4000
对于我们，工具越多就是解决问题的知识。
15:30
So, education is very important.
360
915000
3000
所以教育至关重要。
15:33
Also, it's not about that,
361
918000
2000
不仅仅是这些，
15:35
only about that. You also have to work really, really hard.
362
920000
2000
你还要非常努力工作。
15:37
So, I always tell my students,
363
922000
2000
我常常告诫我的学生们
15:39
"Work smart, then work hard."
364
924000
2000
学会聪明地工作，然后努力工作。
15:41
This picture in the back this is 3 a.m. in the morning.
365
926000
3000
这张照片是凌晨三点拍的。
15:44
I guarantee if you come to your lab at 3 - 4 am
366
929000
2000
如果您凌晨3、4点来我们实验室，
15:46
we have students working there,
367
931000
2000
您会看到学生们还在那里，
15:48
not because I tell them to, but because we are having too much fun.
368
933000
3000
不是我要求的，而是他们有兴趣做。
15:51
Which leads to the last topic:
369
936000
2000
这就是最后一个主题。
15:53
Do not forget to have fun.
370
938000
2000
别忘了找乐子。
15:55
That's really the secret of our success, we're having too much fun.
371
940000
3000
这是我们成功的秘诀，我们工作中充满了乐趣。
15:58
I truly believe that highest productivity comes when you're having fun,
372
943000
3000
我认为人有多大乐，地有多大产。
16:01
and that's what we're doing.
373
946000
2000
这就是我们的工作。
16:03
There you go. Thank you so much.
374
948000
2000
就到这里吧。感谢各位听众。
16:05
(Applause)
375
950000
5000
（掌声）
ABOUT THE SPEAKER
Dennis Hong - RoboticistDennis Hong is the founder and director of RoMeLa -- a Virginia Tech robotics lab that has pioneered several breakthroughs in robot design and engineering.
Why you should listen
As director of a groundbreaking robotics lab, Dennis Hong guides his team of students through projects on robot locomotion and mechanism design, creating award-winning humanoid robots like DARwIn (Dynamic Anthropomorphic Robot with Intelligence). His team is known as RoMeLa (Robotics & Mechanisms Laboratory) and operates at Virginia Tech.
Hong has also pioneered various innovations in soft-body robots, using a “whole-skin locomotion” as inspired by amoebae. Marrying robotics with biochemistry, he has been able to generate new types of motion with these ingenious forms. For his contributions to the field, Hong was selected as a NASA Summer Faculty Fellow in 2005, given the CAREER award by the National Science Foundation in 2007 and in 2009, named as one of Popular Science's Brilliant 10. He is also a gourmet chef and a magician, performing shows for charity and lecturing on the science of magic.
Dennis Hong | Speaker | TED.com