have important secrets,

即使自然界的最令人厭惡的生物

but who would want a swarm of cockroaches

也擁有重要的秘密。

coming towards them?

但是誰會想要一群向牠們

Yet one of the greatest differences between natural and human technologies

走來的蟑螂呢？

relates to robustness.

而自然和人類科技的一最大不同點

Robust systems are stable in complex

在於其穩健性。

and new environments.

穩健的系統於複雜或是新環境中，

Remarkably, cockroaches can self-stabilize

都能穩定地運作。

running over rough terrain.

令人矚目的是，蟑螂能夠自我穩定地

When we put a jet pack on them,

越過高低不平的地形。

or give them a perturbation like an earthquake,

當我們在牠們上面放噴射背包，

we discovered that their wonderfully tuned legs

或者以類似地震的事件擾亂牠時，

allow them to self-stabilize

我們發現，牠們極為調諧的腿

without using any of their brainpower.

可讓牠們自行穩定地行動，

They can go over complex terrain like grass,

而絲毫不費任何腦力。

no problem, and not get destabilized.

牠們能夠通過複雜地形，比如草地，

We discovered a new behavior where,

而不會變得不穩定。

because of their shape,

我們發現了一種新的行為，

they actually roll automatically to their side

由於牠們的體型，

to go through this artificial test bit of grass.

牠們可自動地滚到身體另一側，

Robust systems can perform multiple tasks

來通過實驗中的人工草。

with the same structure.

穩健性系統能夠以這樣相同的結構，

Here's a new behavior we've discovered.

來履行多種任務。

The animals rapidly invert and disappear

這是我們發現的一種新的行為。

in less than 150 milliseconds — you never see them —

這些動物們用來跑行的同樣的結構

using the same structures that they use to run, their legs.

在150毫秒迅速地翻轉和消失，

They can run upside down

一下子就無影無蹤--

very rapidly on rods, branches and wires,

牠們上下顛倒地、非常迅速地

and if you perturb one of those branches,

在棍子，樹枝和電線上跑過，

they can do this.

而如果你擾亂其中一個樹枝的話，

They can perform gymnastic maneuvers

牠們（依然）能夠如此越過。

like no robot we have yet.

牠們能夠履行的體操動作

And they have nearly unlimited

是我們至今現有機器人所無法實現的

maneuverability with that same structure

牠們以一同種結構，

and unprecedented access to a variety

擁有近乎無限的機動性，

of different areas.

能夠史無前例地進入

They have wings for flying when they get warm,

多樣地不同的區域。

but they use those same wings to flip over

當牠們熱身後，牠們可用翅膀飛行，

if they get destabilized.

如果牠們遭到不穩定（的干擾），

Very effective.

而牠們也用同樣的翅膀，

Robust systems are also fault tolerant and fail-safe.

來非常有效地翻滾過來。

This is the foot of a cockroach.

穩健系統也有故障容錯和自我防故障機制。

It has spines, gluey pads and claws,

這是一隻蟑螂的腳掌。

but if you take off those feet,

牠有脊柱，胶垫和爪子

they can still go over rough terrain,

但是如果你拿掉牠的腳掌，

like the bottom video that you see,

牠們仍然能夠越過高低不平的地形，

without hardly slowing down. Extraordinary.

就像在下面錄像裡，你看到的一樣。

They can run up mesh without their feet.

絲毫不減速地（越過）。非同凡響。

Here's an animal using a normal, alternating tripod:

牠們沒有腳掌仍可越上鐵絲網。

three legs, three legs, three legs,

這個動物使用正常的、替換性三軸架結構。

but in nature, the insects often have lost their legs.

三只腿，三只腿，三只腿

Here's one moving with two middle legs gone.

但在自然中，這些昆蟲常失去牠們的腿。

It can even lose three legs, in a tripod,

這一隻正移動的昆蟲，牠没中間2條腿。

and adopt a new gait, a hopping gait.

牠甚至失去三條腿，一個三軸架結構中，

And I point out that all of these videos

牠用一種新步法，一種跳躍式的步法。

are slowed down 20 times,

需要說明的是，所有這些影片

so they're actually really fast, when you see this.

都放慢20倍來播放

Robust systems are also damage resistant.

所以牠們實際上真的很快。

Here's an animal climbing up a wall.

穩健性系統也有防破壞機制。

It looks like a rapid, smooth, vertical climb,

這一隻正在向上爬牆。

but when you slow it down,

看上去是迅速平穩地垂直爬行，

you see something very different.

但是當影像放慢的時候，

Here's what they do.

你會看到一些非常不同的事情。

They intentionally have a head-on collision with the wall

牠們其實這麼做 :

so they don't slow down and can transition up it

牠們故意地讓頭衝撞這面牆，

in 75 milliseconds.

所以牠們不用減速，能在75毫秒

And they can do this in part because they have

轉變向上爬。

extraordinary exoskeletons.

牠們能這樣做，部份原因是，

And they're really just made up of compliant joints

牠們有特別的外骨骼。

that are tubes and plates

牠們由兼容的關節組成

connected to one another.

而這些關節就由管子和墊子

Here's a dissection of an abdomen of a cockroach.

互相連接在一起。

You see these plates, and you see the compliant membrane.

這是一隻蟑螂的腹部的解剖面。

My engineering colleague at Berkeley

你能看到這些墊子，這些兼容的隔膜。

designed with his students

我在柏克萊的工程設計同事

a novel manufacturing technique

和他的學生們設計出了

where you essentially origami the exoskeleton,

一種新穎的製造技術。

you laser cut it, laminate it,

像折紙一樣打開外骨骼，

and you fold it up into a robot.

將之雷射切割，分成薄片，

And you can do that now in less than 15 minutes.

然後折疊成一個機器人。

These robots, called DASH,

現在能在15分鐘內完成。

for Dynamic Autonomous Sprawled Hexapod,

這些機械人，叫做DASH,

are highly compliant robots,

動態自發爬行昆蟲，

and they're remarkably robust as a result

是有高度兼容的機器人，

of these features.

它們具有令人矚目的

They're certainly incredibly damage resistant.

穩定性。

(Laughter)

它們有非凡地抗破壞性。

They even have some of the behaviors of the cockroaches.

（觀眾在笑）

So they can use their smart, compliant body

它們甚至擁有蟑螂的一些行為特徵。

to transition up a wall

所以它們能使用智慧兼容的身體

in a very simple way.

以非常簡單方式，

They even have some of the beginnings

來轉變爬上一面牆

of the rapid inversion behavior

它們甚至有像蟑螂消失一般的

where they disappear.

迅速地倒置轉換行為

Now we want to know why they can go anywhere.

的一些開端。

We discovered that they can go through

我們想知到牠們爲什麽能去任何地方。

three-millimeter gaps,

我們發現，牠們能夠越過

the height of two pennies, two stacked pennies,

三毫米的空隙，

and when they do this,

兩個堆起來的便士（硬幣）的高度，

they can actually run through those confined spaces

而當牠們做這件事情時，

at high speeds,

牠們能夠高速地

although you never see it.

跑過這些密閉的空間，

To understand it better,

你只是從來沒看見牠。

we did a CT scan of the exoskeleton

爲了更理解牠，

and showed that they can compress their body

我們以電腦斷層掃描外骨骼

by over 40 percent.

其顯示，牠們能夠壓縮身體超過40%。

We put them in a materials testing machine

我們牠們放在一個材料檢驗設備中，

to look at the stress strain analysis

來作應力應變分析，

and showed that they can withstand forces

發現牠們能夠承受八倍於

800 times their body weight,

牠們身體重量的力量，

and after this they can fly and run

而壓力後夠正常地飛和跑。

absolutely normally.

所以你無法預料

So you never know where

基於好奇的研究會導向哪裡，

curiosity-based research will lead,

（或許）某天你可能想要

and someday you may want a swarm

一群受蟑螂啓發研究的機器人

of cockroach-inspired robots

向你走來。

to come at you.

（觀眾的笑聲）

(Laughter)

謝謝大家。

Thank you.

（觀眾鼓掌）。

(Applause)