TEDGlobal 2013
Raffaello D'Andrea: The astounding athletic power of quadcopters
Raffaello D'Andrea: 四旋翼飛行器驚人嘅運動能力
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喺 TEDGlobal 機器人實驗室，Raffaello D'Andrea 展示佢嘅四旋翼飛行器。飛行器有自主學習能力嘅算法，可以好似運動員咁樣思考，同埋解決物理運動嘅問題。佢精彩示範咗無人機點樣接住物件、平衡，同埋做決定。留意動力控制四旋翼飛行器呢一幕，因為呢部飛行器勁到令你好想要返部。
Raffaello D'Andrea - Autonomous systems pioneer
Raffaello D'Andrea explores the possibilities of autonomous technology by collaborating with artists, engineers and entrepreneurs. Full bio
Raffaello D'Andrea explores the possibilities of autonomous technology by collaborating with artists, engineers and entrepreneurs. Full bio
Double-click the English transcript below to play the video.
00:23
So what does it mean for a machine to be athletic?
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如果呢台機器可以做運動
意味著乜嘢？
意味著乜嘢？
00:26
We will demonstrate the concept of machine athleticism
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我哋會借助四旋翼飛行器（四旋翼）
00:29
and the research to achieve it
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去展示機器運動嘅概念
00:31
with the help of these flying machines called quadrocopters,
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同埋我哋喺機器運動方面嘅研究
00:34
or quads, for short.
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00:38
Quads have been around for a long time.
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四旋翼已經面世好耐
佢哋最近大熱嘅原因
係因為佢哋嘅機械原理簡單
係因為佢哋嘅機械原理簡單
00:40
The reason that they're so popular these days
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00:42
is because they're mechanically simple.
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00:44
By controlling the speeds of these four propellers,
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只要控制呢四個螺旋槳嘅轉速
00:46
these machines can roll, pitch, yaw,
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呢部機器就可以翻側、俯仰、偏航
00:49
and accelerate along their common orientation.
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仲可以向任何一個方向加速
00:52
On board are also a battery, a computer,
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呢部機器有電池、微型電腦
各種傳感器同無線電收發器
各種傳感器同無線電收發器
00:55
various sensors and wireless radios.
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00:59
Quads are extremely agile, but this agility comes at a cost.
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四旋翼靈活係有代價嘅
01:03
They are inherently unstable, and they need some form
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佢天生唔夠穩定
所以需要自動反饋控制
至保證可以飛得到
至保證可以飛得到
01:06
of automatic feedback control in order to be able to fly.
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01:16
So, how did it just do that?
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咁點樣做到自動反饋呢？
01:19
Cameras on the ceiling and a laptop
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天花板嘅攝像鏡頭同呢部手提電腦
01:21
serve as an indoor global positioning system.
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形成咗室內嘅定位系統
01:23
It's used to locate objects in the space
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用嚟定位空間入面嘅物件
01:26
that have these reflective markers on them.
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每件物件都有呢種反光標記
收集到嘅定位數據會發送去
另一部手提電腦
另一部手提電腦
01:28
This data is then sent to another laptop
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01:30
that is running estimation and control algorithms,
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執行估算同控制算法
01:32
which in turn sends commands to the quad,
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跟住電腦會發送控制指令畀四旋翼
01:34
which is also running estimation and control algorithms.
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四旋翼亦都會執行計算同控制算法
01:41
The bulk of our research is algorithms.
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我哋研究嘅重點就係算法
01:44
It's the magic that brings these machines to life.
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算法賦予呢啲機器活力
01:48
So how does one design the algorithms
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咁係點樣設計出算法
令機器可以郁嘅呢？
令機器可以郁嘅呢？
01:50
that create a machine athlete?
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01:52
We use something broadly called model-based design.
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我哋利用廣義稱為
「以模型為基礎嘅設計方法」
「以模型為基礎嘅設計方法」
01:55
We first capture the physics with a mathematical model
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我哋首先利用數學模型
掌握機器運動嘅物理數據
掌握機器運動嘅物理數據
01:58
of how the machines behave.
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然後用數學嘅一個細分學科
02:00
We then use a branch of mathematics
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02:03
called control theory to analyze these models
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叫做控制理論，分析模型同合成算法
02:05
and also to synthesize algorithms for controlling them.
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從而控制四旋翼
例如，我哋係咁樣控制四旋翼︰
02:09
For example, that's how we can make the quad hover.
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02:12
We first captured the dynamics
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首先，用一系列微分方程
掌握佢嘅運動數據
掌握佢嘅運動數據
02:14
with a set of differential equations.
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02:16
We then manipulate these equations with the help
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藉著控制理論，我哋修改呢啲方程式
02:18
of control theory to create algorithms that stabilize the quad.
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得出一啲算法嚟穩定四旋翼
02:23
Let me demonstrate the strength of this approach.
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等我示範下呢種方法有幾厲害啦
02:29
Suppose that we want this quad to not only hover
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假設我哋想四旋翼停喺空中之外
02:31
but to also balance this pole.
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仲要穩定一轆棍
02:34
With a little bit of practice,
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經過簡單練習
人類已經可以做到呢個動作
人類已經可以做到呢個動作
02:36
it's pretty straightforward for a human being to do this,
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02:38
although we do have the advantage of having
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雖然我哋比四旋翼有優勢
02:40
two feet on the ground
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我哋可以雙腿掂地
02:41
and the use of our very versatile hands.
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有好靈活嘅雙手輔助
02:44
It becomes a little bit more difficult
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但如果我金雞獨立嘅話，咁就有啲難
02:47
when I only have one foot on the ground
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02:49
and when I don't use my hands.
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02:52
Notice how this pole has a reflective marker on top,
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注意轆棍頂部有反光標記
用嚟判斷轆棍嘅空間座標
用嚟判斷轆棍嘅空間座標
02:55
which means that it can be located in the space.
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（觀眾）哦！
03:04
(Applause)
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（掌聲）
03:10
You can notice that this quad is making fine adjustments
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大家可以睇到部四旋翼一直喺度微調
03:13
to keep the pole balanced.
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令轆棍平衡
03:15
How did we design the algorithms to do this?
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我哋係點樣設計算法搞掂嘅呢？
03:19
We added the mathematical model of the pole
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我哋將轆棍嘅數學模型輸入到四旋翼
03:21
to that of the quad.
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03:22
Once we have a model of the combined quad-pole system,
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只要我哋個模型有齊
四旋翼同轆棍嘅資料
四旋翼同轆棍嘅資料
03:25
we can use control theory to create algorithms for controlling it.
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我哋就可以利用控制理論
建立控制算法去控制四旋翼
建立控制算法去控制四旋翼
03:30
Here, you see that it's stable,
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睇下，就算我郁佢一下
03:32
and even if I give it little nudges,
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佢都穩如泰山，都會返到去平衡點
03:34
it goes back to the nice, balanced position.
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03:40
We can also augment the model to include
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我哋仲可以修改模型
加入四旋翼預定嘅空間座標
加入四旋翼預定嘅空間座標
03:41
where we want the quad to be in space.
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03:44
Using this pointer, made out of reflective markers,
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用著呢條有反光標記嘅指揮棒
03:47
I can point to where I want the quad to be in space
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就可以點四旋翼去任何我想嘅位置
03:49
a fixed distance away from me.
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而且同我保持特定嘅距離
（笑聲）
呢啲特技動作嘅關鍵係算法
04:07
The key to these acrobatic maneuvers is algorithms,
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04:10
designed with the help of mathematical models
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算法依賴數學模型同控制理論
04:13
and control theory.
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04:15
Let's tell the quad to come back here
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等我指部四旋翼返嚟先
04:17
and let the pole drop,
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畀四旋翼放低轆棍
04:19
and I will next demonstrate the importance
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宜家我會講解
04:20
of understanding physical models
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理解物理模型
同現實世界運作規律嘅重要
同現實世界運作規律嘅重要
04:23
and the workings of the physical world.
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04:37
Notice how the quad lost altitude
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留意喺我放杯水上去嘅時候
04:39
when I put this glass of water on it.
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四旋翼嘅高度下降咗
04:41
Unlike the balancing pole, I did not include
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唔似轆棍咁樣
我無喺四旋翼系統度
加入杯水嘅數學模型
加入杯水嘅數學模型
04:44
the mathematical model of the glass in the system.
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04:46
In fact, the system doesn't even know that the glass of water is there.
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事實上，系統根本唔知道杯水喺度
04:49
Like before, I could use the pointer to tell the quad
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同之前一樣，我可以用指揮棒
指揮四旋翼嘅走向
指揮四旋翼嘅走向
04:52
where I want it to be in space.
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04:55
(Applause)
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（掌聲）
05:05
Okay, you should be asking yourself,
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大家可能會問
點解玻璃杯嘅水唔會倒出嚟？
點解玻璃杯嘅水唔會倒出嚟？
05:07
why doesn't the water fall out of the glass?
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05:09
Two facts: The first is that gravity acts
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原因有兩個：
第一，重力對所有物體嘅作用都係一樣
05:12
on all objects in the same way.
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05:15
The second is that the propellers are all pointing
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第二，所有螺旋槳都指向
同玻璃杯一樣嘅方向︰指向上
同玻璃杯一樣嘅方向︰指向上
05:17
in the same direction of the glass, pointing up.
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呢兩點加埋，結果就係
05:20
You put these two things together, the net result
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05:23
is that all side forces on the glass are small
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杯水打側方向嘅作用力太細
05:25
and are mainly dominated by aerodynamic effects,
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四旋翼亦因此主要受到空氣動力控制
05:28
which as these speeds are negligible.
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所以向側邊嘅力都可以忽略
05:35
And that's why you don't need to model the glass.
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亦因為咁，你無需為玻璃杯整數學模型
05:37
It naturally doesn't spill no matter what the quad does.
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因為無論四旋翼做咩，水都唔會漏出嚟
05:50
(Applause)
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（掌聲）
05:57
The lesson here is that some high-performance tasks
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喺度想講嘅係
某啲高性能任務簡單過其他任務
06:01
are easier than others,
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06:03
and that understanding the physics of the problem
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同埋，理解問题背後嘅物理
06:05
tells you which ones are easy and which ones are hard.
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你就可以知道邊樣簡單、邊樣難
06:08
In this instance, carrying a glass of water is easy.
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呢個例子裏面
四旋翼頂住杯水飛就簡單
四旋翼頂住杯水飛就簡單
06:10
Balancing a pole is hard.
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平衡轆棍就難
06:14
We've all heard stories of athletes
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我哋都聽過運動員受傷都可以完成壯舉
06:15
performing feats while physically injured.
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06:18
Can a machine also perform
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咁機器可唔可以
喺極度損壞嘅情況下運作？
喺極度損壞嘅情況下運作？
06:19
with extreme physical damage?
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06:22
Conventional wisdom says that you need
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傳統科學認為，你要飛
06:24
at least four fixed motor propeller pairs in order to fly,
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起碼要四塊固定螺旋槳
06:28
because there are four degrees of freedom to control:
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因為要控制四範嘢︰
滾轉、俯仰、偏航同加速
滾轉、俯仰、偏航同加速
06:30
roll, pitch, yaw and acceleration.
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06:33
Hexacopters and octocopters, with six and eight propellers,
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六旋同八旋飛行器
分別有六同八塊螺旋槳
分別有六同八塊螺旋槳
06:36
can provide redundancy,
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佢哋嘅螺旋槳足以應付所需
06:37
but quadrocopters are much more popular
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但係四旋更加受歡迎
06:39
because they have the minimum number
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因為佢有最少嘅螺旋槳：四套
06:41
of fixed motor propeller pairs: four.
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係咪？
06:44
Or do they?
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07:01
If we analyze the mathematical model of this machine
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如果我哋分析呢台
只用兩個螺旋槳嘅機器嘅數學模型
只用兩個螺旋槳嘅機器嘅數學模型
07:04
with only two working propellers,
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07:06
we discover that there's an unconventional way to fly it.
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我哋發現有種新嘅方式可以令佢飛起嚟
07:19
We relinquish control of yaw,
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就係只要算法容許嘅話
07:21
but roll, pitch and acceleration can still be controlled
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我哋放棄控制偏航
但係我哋仍然控制滾轉、俯仰同加速
07:24
with algorithms that exploit this new configuration.
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07:33
Mathematical models tell us exactly when
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數學模型精確咁話畀我哋知
幾時同點解呢種配置係有可能
07:36
and why this is possible.
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07:38
In this instance, this knowledge allows us to design
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喺呢個例子，數學模型嘅知識
07:40
novel machine architectures
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令我哋設計出全新嘅機器結構
07:42
or to design clever algorithms that gracefully handle damage,
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或者好似人類運動員一樣聰明
應對損害嘅算法
應對損害嘅算法
07:46
just like human athletes do,
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07:48
instead of building machines with redundancy.
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而無需整多餘嘅部件
07:52
We can't help but hold our breath when we watch
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當我哋睇到跳水運動員空翻入水
07:54
a diver somersaulting into the water,
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或者撐杆跳運動員喺空中翻轉
07:57
or when a vaulter is twisting in the air,
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然後快速著地，我哋一定會屏息以待
07:58
the ground fast approaching.
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08:00
Will the diver be able to pull off a rip entry?
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睇下究竟跳水嘅可唔可以壓住水花
08:03
Will the vaulter stick the landing?
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撐杆跳嘅可唔可以站立著地
08:05
Suppose we want this quad here
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假設我哋希望呢台四旋翼表演三個空翻
08:06
to perform a triple flip and finish off
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然後停喺佢原來嘅位置
08:09
at the exact same spot that it started.
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08:11
This maneuver is going to happen so quickly
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但呢個動作快到
我哋用唔到定位反饋信息
糾正執行過程嘅動作
糾正執行過程嘅動作
08:13
that we can't use position feedback to correct the motion during execution.
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08:17
There simply isn't enough time.
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時間根本唔夠
08:19
Instead, what the quad can do is perform the maneuver blindly,
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所以四旋翼只能夠盲目執行動作
08:23
observe how it finishes the maneuver,
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執行完之後
睇下自己點樣完成呢個動作
睇下自己點樣完成呢個動作
08:25
and then use that information to modify its behavior
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然後修改自己嘅動作
08:28
so that the next flip is better.
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令到下一個翻轉好啲
08:30
Similar to the diver and the vaulter,
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呢個類似跳水同撐杆跳運動員
08:32
it is only through repeated practice
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只有通過反覆練習
08:34
that the maneuver can be learned and executed
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先可以學好動作，做到最好
08:36
to the highest standard.
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08:46
(Applause)
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（笑聲）
（掌聲）
（掌聲）
08:51
Striking a moving ball is a necessary skill in many sports.
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好多運動入面，擊球係一項必須嘅技能
08:54
How do we make a machine do
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我哋點樣令機器做到
運動員隨便就做到嘅動作？
運動員隨便就做到嘅動作？
08:56
what an athlete does seemingly without effort?
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09:15
(Applause)
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（笑聲）
（掌聲）
（掌聲）
09:22
This quad has a racket strapped onto its head
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呢部四旋翼個頭綁咗塊球拍
09:25
with a sweet spot roughly the size of an apple, so not too large.
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而最有效擊球點同蘋果差唔多大
所以唔係好大
09:28
The following calculations are made every 20 milliseconds,
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部機嘅計算頻率係 20 毫秒一次
09:31
or 50 times per second.
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亦即係每秒 50 次
09:33
We first figure out where the ball is going.
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我哋第一步睇下個波飛去邊
09:36
We then next calculate how the quad should hit the ball
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第二步計算出四旋翼要點樣打波
09:38
so that it flies to where it was thrown from.
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四旋翼收到指令後
就飛去個波飛出嘅位置
就飛去個波飛出嘅位置
09:41
Third, a trajectory is planned that carries the quad
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第三步，計算出一條從四旋翼
到擊球點嘅飛行軌跡
到擊球點嘅飛行軌跡
09:46
from its current state to the impact point with the ball.
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09:49
Fourth, we only execute 20 milliseconds' worth of that strategy.
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第四步，我哋只執行
上幾個程序 20 毫秒
上幾個程序 20 毫秒
09:53
Twenty milliseconds later, the whole process is repeated
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20 毫秒過去，重複以上成個程序
09:56
until the quad strikes the ball.
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直到四旋翼打到個波
10:07
(Applause)
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（掌聲）
10:10
Machines can not only perform dynamic maneuvers on their own,
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機器唔單止可以獨立運動
10:13
they can do it collectively.
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佢哋仲可以一齊嚟
10:15
These three quads are cooperatively carrying a sky net.
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呢三部四旋翼就一齊帶住個球網飛
10:28
(Applause)
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（掌聲）
10:33
They perform an extremely dynamic
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佢哋做咗個非常有動態
非常合作嘅操作
非常合作嘅操作
10:36
and collective maneuver
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10:38
to launch the ball back to me.
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嚟丟返個波畀我
10:40
Notice that, at full extension, these quads are vertical.
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注意囉，個網全部打開個陣
呢啲四旋翼全部打側九十度
10:48
(Applause)
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（掌聲）
10:50
In fact, when fully extended,
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實際上，當個網全部打開
10:52
this is roughly five times greater than what a bungee jumper feels
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會產生相當於笨豬跳嘅人
跌到最低時五倍嘅力
跌到最低時五倍嘅力
10:55
at the end of their launch.
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11:03
The algorithms to do this are very similar
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做一齊打波動作嘅算法好簡單
11:05
to what the single quad used to hit the ball back to me.
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類似一部四旋翼打返個波畀我嘅算式
11:09
Mathematical models are used to continuously re-plan
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都係利用數學模型持續計算合作策略
11:11
a cooperative strategy 50 times per second.
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每秒計算 50 次
11:16
Everything we have seen so far has been
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我哋目前睇到嘅所有嘢
都同機器同埋佢哋能力有關
都同機器同埋佢哋能力有關
11:18
about the machines and their capabilities.
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11:20
What happens when we couple this machine athleticism
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如果我哋將機器嘅運動能力
同人類結合，會點呢？
同人類結合，會點呢？
11:23
with that of a human being?
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11:25
What I have in front of me is a commercial gesture sensor
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喺我面前嘅係一部商業用姿勢感應器
11:29
mainly used in gaming.
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主要用喺遊戲
11:30
It can recognize what my various body parts
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佢可以實時識別我身體唔同部位嘅動作
11:32
are doing in real time.
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11:34
Similar to the pointer that I used earlier,
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而同我之前用嘅指揮棒相似
11:36
we can use this as inputs to the system.
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我可以用呢個感應器
當成系統嘅輸入裝置
當成系統嘅輸入裝置
11:39
We now have a natural way of interacting
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我哋宜家可以用身體姿勢
自然咁同四旋翼互動
自然咁同四旋翼互動
11:41
with the raw athleticism of these quads with my gestures.
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12:22
(Applause)
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（掌聲）
12:35
Interaction doesn't have to be virtual. It can be physical.
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互動唔一定係虛擬，可以係現實嘅
以呢部四旋翼為例
12:39
Take this quad, for example.
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12:41
It's trying to stay at a fixed point in space.
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佢想停喺空間嘅一個固定位置
12:44
If I try to move it out of the way, it fights me,
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如果我要擁開佢，佢會抵抗我
12:48
and moves back to where it wants to be.
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佢始終會返去佢想要嘅位置度
12:52
We can change this behavior, however.
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但係，我哋可以改變呢種行為
我哋可以用數學模型
估算我用喺四旋翼上面嘅力
估算我用喺四旋翼上面嘅力
12:55
We can use mathematical models
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12:57
to estimate the force that I'm applying to the quad.
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13:00
Once we know this force, we can also change the laws of physics,
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只要我哋知道呢個力
我哋就可以改變四旋翼嘅物理定律
13:03
as far as the quad is concerned, of course.
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13:07
Here the quad is behaving as if it were
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依家四旋翼就好似喺粘性流體度
13:10
in a viscous fluid.
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而我哋依家可以好親密咁同機器互動
13:14
We now have an intimate way
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13:16
of interacting with a machine.
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13:18
I will use this new capability to position
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我會用呢種新技術
將帶住攝像頭嘅四旋翼放喺適當位置
13:21
this camera-carrying quad to the appropriate location
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去錄低餘下嘅示範
13:23
for filming the remainder of this demonstration.
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13:36
So we can physically interact with these quads
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正如頭先所講
我哋可以同四旋翼有實體互動
我哋可以同四旋翼有實體互動
13:38
and we can change the laws of physics.
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亦可以改變佢哋嘅物理定律
13:41
Let's have a little bit of fun with this.
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等我哋嚟玩下呢樣
接著落嚟
13:43
For what you will see next, these quads
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你會睇到四旋翼
一開始好似喺太空咁輕飄飄
一開始好似喺太空咁輕飄飄
13:45
will initially behave as if they were on Pluto.
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13:48
As time goes on, gravity will be increased
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隨住時間增加，引力亦都加大
13:51
until we're all back on planet Earth,
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直到恢復地球引力為止
13:53
but I assure you we won't get there.
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但係我保證你同我唔會有事
13:55
Okay, here goes.
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好，開始
14:05
(Laughter)
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（笑聲）
14:34
(Laughter)
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（笑聲）
14:37
(Applause)
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（掌聲）
14:41
Whew!
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呼！
14:46
You're all thinking now,
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你哋一定諗緊四旋翼嘅
開發人員有太多娛樂
開發人員有太多娛樂
14:48
these guys are having way too much fun,
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14:50
and you're probably also asking yourself,
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你都可能會問自己
14:52
why exactly are they building machine athletes?
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點解佢哋要整運動機械人？
14:56
Some conjecture that the role of play in the animal kingdom
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有人一口咬定話
「玩」嘅功能就係磨練
包括人在內嘅動物嘅技藝同埋能力
包括人在內嘅動物嘅技藝同埋能力
14:58
is to hone skills and develop capabilities.
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15:01
Others think that it has more of a social role,
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其他人就諗，四旋翼更加有社會功能
15:03
that it's used to bind the group.
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可以用嚟聚合群體
15:05
Similarly, we use the analogy of sports and athleticism
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對我哋嚟講
我哋用運動同崇尚運動嘅精神
創造咗新嘅機器算法
創造咗新嘅機器算法
15:08
to create new algorithms for machines
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15:11
to push them to their limits.
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將機器嘅潛能發揮到極致
15:13
What impact will the speed of machines have on our way of life?
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機器嘅速度
對我哋嘅生活方式有咩影響？
對我哋嘅生活方式有咩影響？
15:16
Like all our past creations and innovations,
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同我哋以前所有嘅創造發明一樣
15:19
they may be used to improve the human condition
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佢哋可能用嚟改善人類嘅生活條件
15:22
or they may be misused and abused.
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亦都可能俾人誤用或者濫用
15:24
This is not a technical choice we are faced with;
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我哋面對嘅，唔係技術決定
而係社會決定
而係社會決定
15:26
it's a social one.
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15:28
Let's make the right choice,
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等我哋做個正確決定
15:29
the choice that brings out the best in the future of machines,
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令最好嘅機器可以喺將來問世
15:32
just like athleticism in sports
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就好似崇向運動嘅精神
發掘到運動潛能最勁嘅人咁
發掘到運動潛能最勁嘅人咁
15:33
can bring out the best in us.
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15:36
Let me introduce you to the wizards behind the green curtain.
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等我介紹你哋四旋翼項目
背後勞苦功高嘅人
背後勞苦功高嘅人
15:39
They're the current members of the Flying Machine Arena research team.
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佢哋係飛行器競技場
研究小組嘅現任成員
研究小組嘅現任成員
15:42
(Applause)
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（掌聲）
15:47
Federico Augugliaro, Dario Brescianini, Markus Hehn,
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Federico Augugliaro,
Dario Brescianini
Dario Brescianini
Markus Hehn, Sergei Lupashin
15:50
Sergei Lupashin, Mark Muller and Robin Ritz.
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Mark Muller 同 Robin Ritz
15:53
Look out for them. They're destined for great things.
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請留意佢哋
佢哋日後一定會有偉大嘅成就
佢哋日後一定會有偉大嘅成就
15:54
Thank you.
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多謝大家
15:56
(Applause)
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（掌聲）
ABOUT THE SPEAKER
Raffaello D'Andrea - Autonomous systems pioneerRaffaello D'Andrea explores the possibilities of autonomous technology by collaborating with artists, engineers and entrepreneurs.
Why you should listen
Raffaello D'Andrea combines academics, business, and the arts to explore the capabilities of autonomous systems. As part of his research as professor of dynamic systems and control at the Swiss Federal Institute of Technology (ETH Zürich), he and his collaborators enchant viewers with works like the self-destructing, self-assembling Robotic Chair, or the Balancing Cube that can perch itself on its corners.
D’Andrea and his team created the Flying Machine Arena to test the gravity-defying abilities of their athletic flying robots. Building on research in the Flying Machine Arena, ETH Zürich partnered with its spin-off company Verity Studios and with Cirque du Soleil to create “Sparked,” a short film showcasing the unexpected airborne dexterity of quadcopters. D’Andrea is the co-founder of Kiva Systems, a robotics company that develops intelligent automated warehouse systems and that was acquired by Amazon in 2012.
Raffaello D'Andrea | Speaker | TED.com