(Laughter)

（笑聲）

That's SpotMini.

（笑聲）

He'll be back in a little while.

這是 SpotMini （迷你小花），

I --

他等等就會回來。

(Applause)

我……

I love building robots.

（掌聲）

And my long-term goal is to build robots

我喜歡製作機器人。

that can do what people and animals do.

我的長期目標，是我做出的機器人

And there's three things in particular

要能做到人類與動物能做到的。

that we're interested in.

我們感興趣的事情，

One is balance and dynamic mobility,

主要有三項。

the second one is mobile manipulation,

第一項是平衡與動態行動力，

and the third one is mobile perception.

第二項是行動操控，

So, dynamic mobility and balance --

第三項是行動感知。

I'm going to do a demo for you.

所以，動態行動力與平衡──

I'm standing here, balancing.

我來做個示範給各位看。

I can see you're not very impressed. OK, how about now?

我站在這裡，很平衡。

(Laughter)

看來各位並沒有覺得很佩服。 好，那現在這樣呢？

How about now?

（笑聲）

(Applause)

現在這樣呢？

Those simple capabilities mean that people can go almost anywhere on earth,

（掌聲）

on any kind of terrain.

那些簡單能力意味著人類幾乎 可以到達地球上的任何地方，

We want to capture that for robots.

任何地形皆可。

What about manipulation?

我們想要幫機器人取得那能力。

I'm holding this clicker in my hand;

那麼操控呢？

I'm not even looking at it,

我手上持有一個搖控器；

and I can manipulate it without any problem.

我甚至沒有看它，

But even more important,

我就可以操控它，這一點也沒問題。

I can move my body while I hold the manipulator, the clicker,

但更重要的是，

and stabilize and coordinate my body,

在我手持這個操控機置── 搖控器時，我可以移動身體，

and I can even walk around.

並且穩定、協調我的身體。

And that means I can move around in the world

我甚至可以到處走動。

and expand the range of my arms and my hands

那意味著，我可以 在世界上到處走動，

and really be able to handle almost anything.

擴展我的手臂與手的範圍，

So that's mobile manipulation.

且真的能夠操作幾乎任何東西。

And all of you can do this.

那就是行動操控。

Third is perception.

你們每個人都做得到。

I'm looking at a room with over 1,000 people in it,

第三項是感知。

and my amazing visual system can see every one of you --

我看到這個會議廳裡面 有超過 1000 人，

you're all stable in space,

我驚人的視覺系統 可以看到你們每一個人──

even when I move my head,

在空間中你們都是穩定的，

even when I move around.

即使當我移動我的頭、

That kind of mobile perception is really important for robots

即使當我走來走去也一樣。

that are going to move and act

這類的行動感知 對機器人真的很重要，

out in the world.

它們得一邊移動

I'm going to give you a little status report

一邊與外在的世界反應。

on where we are in developing robots toward these ends.

我接下來要跟各位做個現況報告，

The first three robots are all dynamically stabilized robots.

說明一下目前我們機器人的 開發進度到甚麼程度。

This one goes back a little over 10 years ago --

前三個機器人都是 動態上穩定的機器人。

"BigDog."

這一隻大約是十年前──

It's got a gyroscope that helps stabilize it.

它叫「BigDog」（大狗）。

It's got sensors and a control computer.

它有個陀螺儀能協助穩定它。

Here's a Cheetah robot that's running with a galloping gait,

它有感測器和控制電腦。

where it recycles its energy,

這是一隻獵豹機器人， 用飛奔的步伐在跑著，

it bounces on the ground,

它會回收它的能量，

and it's computing all the time

它會利用地板彈起，

in order to keep itself stabilized and propelled.

且它時時刻刻都在運算，

And here's a bigger robot

以保持它的穩定和推進。

that's got such good locomotion using its legs,

這是一隻更大的機器人，

that it can go in deep snow.

它腳的移動力非常好，

This is about 10 inches deep,

可走在很深的積雪中。

and it doesn't really have any trouble.

那積雪有 10 吋深，

This is Spot, a new generation of robot --

它完全沒有任何問題。

just slightly older than the one that came out onstage.

這是 Spot（小花）， 新世代機器人…

And we've been asking the question --

比剛剛上台亮相的那一隻 要稍微老一點。

you've all heard about drone delivery:

我們一直在問這個問題：

Can we deliver packages to your houses with drones?

你們都聽過無人機送貨；

Well, what about plain old legged-robot delivery?

我們能夠用無人機 把包裏送到你家嗎？

(Laughter)

那麼用老式的 有腳機器人來送貨如何？

So we've been taking our robot to our employees' homes

（笑聲）

to see whether we could get in --

所以我們帶我們的機器人 去我們員工的家裡，

(Laughter)

試看看我們能否進得去──

the various access ways.

（笑聲）

And believe me, in the Boston area,

用各種能進入的方式。

there's every manner of stairway twists and turns.

相信我，在波士頓區，

So it's a real challenge.

有各式各樣的樓梯轉折和轉彎。

But we're doing very well, about 70 percent of the way.

那真的是個挑戰。

And here's mobile manipulation,

但我們做得很好， 大約七成的路都能走。

where we've put an arm on the robot,

這是行動操控，

and it's finding its way through the door.

我們在機器人身上加了一隻手臂，

Now, one of the important things about making autonomous robots

它正在設法開門。

is to make them not do just exactly what you say,

製做自動機器人，有件很重要的事，

but make them deal with the uncertainty of what happens in the real world.

就是要讓它們 不要完全照你說的做，

So we have Steve there, one of the engineers,

讓它們去處理真實世界中 會發生的不確定性。

giving the robot a hard time.

所以影片中的工程師史蒂夫

(Laughter)

正在找機器人的麻煩。

And the fact that the programming still tolerates all that disturbance --

（笑聲）

it does what it's supposed to.

而實際上，程式仍然 能容忍所有的干擾──

Here's another example, where Eric is tugging on the robot

機器人在做它該做的。

as it goes up the stairs.

這是另一個例子， 機器人正在上樓時，

And believe me,

艾瑞克用力拉扯它。

getting it to do what it's supposed to do in those circumstances

相信我，

is a real challenge,

讓它能在這類情況下 仍然能去做它該做的，

but the result is something that's going to generalize

是很大的挑戰。

and make robots much more autonomous than they would be otherwise.

但最後的結果，機器人能夠 面對一般的情況，

This is Atlas, a humanoid robot.

相對於沒這麼設計的結果， 它們變得更自動化了。

It's a third-generation humanoid that we've been building.

這是 Atlas （亞特力士）， 人形機器人。

I'll tell you a little bit about the hardware design later.

它是我們打造的 第三代人形機器人。

And we've been saying:

我等等會再告訴各位硬體的設計。

How close to human levels of performance and speed could we get

我們一直在說：

in an ordinary task,

在做一般的工作任務時， 機器人能夠多接近人類的

like moving boxes around on a conveyor?

表現與速度？

We're getting up to about two-thirds of the speed that a human operates

比如搬動傳輸帶上的箱子？

on average.

平均來說，我們可以達到

And this robot is using both hands, it's using its body,

人類操作速度的三分之二。

it's stepping,

這隻機器人在用雙手， 它在用它的身體，

so it's really an example of dynamic stability,

它在跨步，

mobile manipulation

這個例子就展示了動態穩定性、

and mobile perception.

行動操控、

Here --

及行動感知。

(Laughter)

這裡……

We actually have two Atlases.

（笑聲）

(Laughter)

我們其實有兩隻 Atlas。

Now, everything doesn't go exactly the way it's supposed to.

（笑聲）

(Laughter)

並非一切都完全依規劃的進行。

(Laughter)

（笑聲）

(Laughter)

（笑聲）

And here's our latest robot, called "Handle."

（笑聲）

Handle is interesting, because it's sort of half like an animal,

這是我們最新的機器人， 叫「Handle」（手把）。

and it's half something else

Handle 很有趣， 因為它有點像半隻動物，

with these leg-like things and wheels.

另一半則是其他的，

It's got its arms on in kind of a funny way,

它有類似腿的東西和輪子。

but it really does some remarkable things.

它有手臂，樣子有點好笑。

It can carry 100 pounds.

但它能做些很驚人的事。

It's probably going to lift more than that,

它能負重 100 磅。

but so far we've done 100.

它能舉起的重量可能更多，

It's got some pretty good rough-terrain capability,

但目前我們做到的是 100。

even though it has wheels.

雖然它是用輪子， 但它對不平坦地形的

And Handle loves to put on a show.

處理能力很棒。

(Laughter)

Handle 很愛表演。

(Applause)

（笑聲）

I'm going to give you a little bit of robot religion.

（掌聲）

A lot of people think that a robot is a machine where there's a computer

接下來我要跟各位 聊一下機器人的信仰。

that's telling it what to do,

很多人認為，機器人是 一種機器，裡面有台電腦，

and the computer is listening through its sensors.

電腦會告訴它該做什麼，

But that's really only half of the story.

而電腦是透過它的感測器來做反應。

The real story is that the computer is on one side,

但那只對了一半。

making suggestions to the robot,

真正的狀況是，一端是電腦，

and on the other side are the physics of the world.

對機器人提出建議，

And that physics involves gravity, friction, bouncing into things.

另一端是物理學的世界。

In order to have a successful robot,

那物理學涉及地心引力、 摩擦力、彈力等等。

my religion is that you have to do a holistic design,

若要做出一隻成功的機器人，

where you're designing the software, the hardware and the behavior

我的信仰是， 你得要做整體全面的設計，

all at one time,

你要設計軟體、硬體、以及行為，

and all these parts really intermesh and cooperate with each other.

同時一起設計，

And when you get the perfect design, you get a real harmony

所有這些部份都能 緊密配合並彼此合作。

between all those parts interacting with each other.

當你做出完美的設計，

So it's half software and half hardware,

所有部件彼此的互動 才會有真正的和諧。

plus the behavior.

所以它是一半軟體、一半硬體，

We've done some work lately on the hardware, where we tried to go --

外加行為。

the picture on the left is a conventional design,

我們最近在硬體上 下了點功夫，我們試著──

where you have parts that are all bolted together,

左圖是傳統的設計，

conductors, tubes, connectors.

各部件都拴在一起，

And on the right is a more integrated thing;

如導體、管線、連接器。

it's supposed to look like an anatomy drawing.

右圖是比較整合式的，

Using the miracle of 3-D printing,

它應該要看起來像是張 解剖學的圖。

we're starting to build parts of robots

靠著 3D 列印的奇蹟，

that look a lot more like the anatomy of an animal.

我們開始建立機器人的各部件，

So that's an upper-leg part that has hydraulic pathways --

它們看起來比較像是動物的解剖。

actuators, filters --

那是上腿部件，有著水壓通路──

all embedded, all printed as one piece,

促動器、過濾器──

and the whole structure is developed

都內建在其中，形成一件物品。

with a knowledge of what the loads and behavior are going to be,

開發整個結構時，

which is available from data recorded from robots

要知道將來需要的載重以及行為，

and simulations and things like that.

這些資料來自機器人的記錄、

So it's a data-driven hardware design.

以及模擬等等。

And using processes like that,

所以它是種資料驅動的硬體設計。

not only the upper leg but some other things,

用那樣的過程，

we've gotten our robots to go from big, behemoth, bulky, slow, bad robots --

不只是上腿部，還有其他東西，

that one on the right, weighing almost 400 pounds --

我們讓我們的機器人從巨型、龐大、 笨重、緩慢、糟糕的機器人──

down to the one in the middle which was just in the video,

右邊那一隻重量幾乎有 400 磅──

weighs about 190 pounds,

縮減到中間那隻 剛剛在影片中看到的機器人，

just a little bit more than me,

它的重量約 190 磅，

and we have a new one,

只比我重一點，

which is working but I'm not going to show it to you yet,

我們還有一隻新的，

on the left,

已經可以用了， 但我還不打算讓大家看，

which weighs just 165 pounds,

就是左邊那隻，

with all the same strength and capabilities.

重量為 165 磅，

So these things are really getting better very quickly.

具有同等的力量和能力。

So it's time for Spot to come back out,

所以這些東西很快地 就越做越好了。

and we're going to demonstrate a little bit of mobility,

該是 Spot 回來的時候了，

dexterity and perception.

我們要來展示一下行動力、

This is Seth Davis, who's my robot wrangler today,

機敏度、和感知。

and he's giving Spot some general direction

這是賽斯戴維斯， 今天當我的機器人牛仔，

by steering it around,

它會給 Spot 一些一般性的指令，

but all the coordination of the legs and the sensors

操縱它走來走去，

is done by the robot's computers on board.

但腳和感測器的所有協調，

The robot can walk with a number of different gaits;

都是由機器人內建的電腦在做的。

it's got a gyro,

這隻機器人有幾種不同的步法；

or a solid-state gyro,

它內建有個迴轉儀，

an IMU on board.

或一個固態迴轉儀，

Obviously, it's got a battery, and things like that.

主機板上還有個慣性測量單元。

One of the cool things about a legged robot is,

顯然，它也有電池這類的東西。

it's omnidirectional.

有腳的機器人很酷的一點是

In addition to going forward, it can go sideways,

它是全方向的。

it can turn in place.

除了向前走，它也能橫著走，

And this robot is a little bit of a show-off.

它可以原地旋轉。

It loves to use its dynamic gaits,

這隻機器人有點愛現。

like running --

它喜歡用它的動態步法，

(Laughter)

像跑步──

And it's got one more.

（笑聲）

(Laughter)

它還有一招。

Now if it were really a show-off, it would be hopping on one foot,

（笑聲）

but, you know.

如果它真的是在現的話， 它就會單腳跳了，

Now, Spot has a set of cameras here, stereo cameras,

但，你知道的。

and we have a feed up in the center.

Spot 有一組攝影機在這裡， 是立體攝影機，

It's kind of dark out in the audience,

上面這裡有即時影像。

but it's going to use those cameras in order to look at the terrain

觀眾席有點暗，

right in front of it,

但它會用那些攝影機

while it goes over these obstacles back here.

來看它前方的地形，

For this demo, Seth is steering,

它就能越過地上那些障礙。

but the robot's doing all its own terrain planning.

這個展示表演中， 賽斯是在操縱沒錯，

This is a terrain map,

但機器人自己在做它的地形規劃。

where the data from the cameras is being developed in real time,

這是地形圖，

showing the red spots, which are where it doesn't want to step,

來自攝影機的資料會即時被處理，

and the green spots are the good places.

顯示出的紅色區域， 是它不想踩到的地方，

And here it's treating them like stepping-stones.

綠色區域則是好地方。

So it's trying to stay up on the blocks,

它把它們視為跳板一樣。

and it adjusts its stride,

它會試著留在積木塊上面，

and there's a ton of planning

它會調整它的步伐，

that has to go into an operation like that,

像這樣的活動

and it does all that planning in real time,

就會進行一大堆的規劃，

where it adjusts the steps a little bit longer

它會即時去做所有那些規劃，

or a little bit shorter.

決定要把步距稍微調大一點，

Now we're going to change it into a different mode,

或稍微調小一點。

where it's just going to treat the blocks like terrain

現在，我們要把它轉到另一個模式，

and decide whether to step up or down

它會把這些積木塊當做地形來看待，

as it goes.

隨著它前進，決定要踩上去

So this is using dynamic balance

或踩下來。

and mobile perception,

這裡用到的是動態平衡

because it has to coordinate what it sees along with how it's moving.

和行動感知，

The other thing Spot has is a robot arm.

因為它得要把它所見的 與它的動作做協調。

Some of you may see that as a head and a neck,

Spot 還有機器手臂。

but believe me, it's an arm.

有些人可能會把它 視為是頭和脖子，

Seth is driving it around.

但，相信我，那是手臂。

He's actually driving the hand and the body is following.

賽斯在操縱它。

So the two are coordinated in the way I was talking about before --

他其實是在操縱這隻手， 而身體會隨著動。

in the way people can do that.

兩者間是用我先前 談到的方式在做協調的──

In fact, one of the cool things Spot can do we call, "chicken-head mode,"

用人類做協調的方式。

and it keeps its head in one place in space,

事實上，Spot 能做很多很酷的事， 其一被我們稱為「雞頭模式」，

and it moves its body all around.

它會把它的頭保持在 空間中的同一個位置，

There's a variation of this that's called "twerking" --

還可以把身體動來動去。

(Laughter)

這有另一種變化叫做「電臀舞」──