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GiadaGerboni_2018-_灵活的柔性机器人潜力无限_
So, robots. 機器人,
Robots can be programmed to do the same task millions of times with minimal error, something very difficult for us, right? 能夠編寫程式以最少出錯的次數 讓機器人完成數百萬次相同的任務, 但對我們人類來說相當困難,對吧？
minimal:adj.最低的;最小限度的;
And it can be very impressive to watch them at work. 看它們工作,可能令人印象很深刻。
impressive:adj.感人的;令人钦佩的;给人以深刻印象的;
Look at them. 看它們。
I could watch them for hours. 我可以連看幾個小時。
No? 不是嗎？
What is less impressive is that if you take these robots out of the factories, where the environments are not perfectly known and measured like here, to do even a simple task which doesn't require much precision , this is what can happen. 不太令人印象深刻的是 如果這些機器人到了工廠外, 和這裡全然已知和測量過的 環境不一樣, 即使做個簡單、無須太精密的任務, 可能會這樣。
measured:adj.缓慢谨慎的; v.测量; (measure的过去分词和过去式) precision:n.精度,[数]精密度;精确;adj.精密的,精确的;
I mean, opening a door, you don't require much precision. 我是說,開一扇門無須太精密。
(Laughter) （笑聲）
Or a small error in the measurements , he misses the valve , and that's it -- 或者測量中的一個小錯誤, 使它錯過了閥門,就這樣,完了。
measurements:n.测量值,尺寸(measurement的复数); valve:n.阀;[解剖]瓣膜;真空管;活门;v.装阀于;以活门调节;
(Laughter) （笑聲）
with no way of recovering, most of the time. 大多數時候沒有辦法恢復。
So why is that? 為什麼呢？
Well, for many years, robots have been designed to emphasize speed and precision, and this translates into a very specific architecture . 多年來, 機器人的設計強調速度和精密度, 轉化成為非常具體的架構。
emphasize:v.强调;重视;着重;使突出; specific:adj.特殊的,特定的;明确的;详细的;[药]具有特效的;n.特性;细节;特效药; architecture:n.建筑学;建筑风格;建筑式样;架构;
If you take a robot arm, it's a very well-defined set of rigid links and motors, what we call actuators , they move the links about the joints . 如果拿一隻機器手臂, 用的是一套很明確的剛性鏈接 和被稱為執行器的機電, 移動關節周圍的鏈接。
well-defined:adj.定义明确的;界限清楚的; rigid:adj.严格的;僵硬的,死板的;坚硬的;精确的; actuators:n.[电]致动器,制动器(actuator复数形式); joints:n.关节; v.接合,联合; (joint的第三人称单数和复数)
In this robotic structure , you have to perfectly measure your environment, so what is around, and you have to perfectly program every movement of the robot joints, 在這機器人結構裡 周圍的環境必須被完美地測量, 周圍有什麼, 也必須完美地編寫 每個機器人關節動作的指令,
robotic:adj.机器人的,像机器人的;自动的;n.机器人学; structure:n.结构;构造;建筑物;vt.组织;构成;建造;
because a small error can generate a very large fault, so you can damage something or you can get your robot damaged if something is harder. 因為一個小錯誤可能會 導致非常大的錯誤, 可能損毀東西; 或者,如果那東西比較硬, 就會損毀機器人。
generate:v.产生;引起;
So let's talk about them a moment. 讓我們來談一會兒,
And don't think about the brains of these robots or how carefully we program them, but rather look at their bodies. 不要考慮這些機器人的腦 或它的程式寫得多仔細, 而是看它們的身體。
There is obviously something wrong with it, because what makes a robot precise and strong also makes them ridiculously dangerous and ineffective in the real world, because their body cannot deform or better adjust to the interaction with the real world. 身體顯然有點不對勁, 因為使機器人精確和強大的因素 也使它們在現實世界中 危險和沒效率, 因為它們的身體不能變形, 也無法更適應 與真實世界的相互作用。
precise:adj.准确的;确切的;精确的;明确的; ridiculously:adv.可笑地;荒谬地; ineffective:adj.无效的,失效的;不起作用的; deform:vt.使变形;使成畸形;vi.变形;变畸形;adj.畸形的;丑陋的; adjust:v.调整;调节;适应;习惯; interaction:n.[计]交互,相互作用;相互交流;干扰;
So think about the opposite approach , being softer than anything else around you. 因此反向思考, 比周圍的其他事物更柔軟。
approach:n.方法;路径;v.接近;建议;着手处理;
Well, maybe you think that you're not really able to do anything if you're soft, probably. 也許你認為柔軟就辦不了事。 或許吧。
Well, nature teaches us the opposite. 然而,大自然告訴我們的恰恰相反。
For example, at the bottom of the ocean, under thousands of pounds of hydrostatic pressure, a completely soft animal can move and interact with a much stiffer object than him. 例如,在海底, 在數千磅的靜水壓力下, 完全柔軟的動物能移動, 也能與比牠硬的物體相互作用。
hydrostatic:adj.流体静力学的;静水力学的; stiffer:adj.更硬的(stiff的比较级);
He works by carrying around this coconut shell thanks to the flexibility of his tentacles , which serve as both his feet and hands. 牠帶著這個椰子殼走來走去, 牠的觸手靈活, 既是腳,也是手。
coconut:n.椰子;椰子肉; shell:n.壳;炮弹;壳层;骨架;v.脱壳;剥壳;采集贝壳;用壳体包被;short.shewill; flexibility:n.灵活性;弹性;适应性; tentacles:n.[动]触手;[动]触须(tentacle的复数);
And apparently , an octopus can also open a jar. 很顯然,章魚能開罐。
apparently:adv.显然地;似乎,表面上; octopus:n.章鱼;
It's pretty impressive, right? 令人印象深刻,對吧？
But clearly, this is not enabled just by the brain of this animal, but also by his body, and it's a clear example, maybe the clearest example, of embodied intelligence , which is a kind of intelligence that all living organisms have. 但顯然,牠辦得到不僅由於腦, 也由於身體。 這是個明顯,也許最明顯 展現智能的例子, 一種生物具有的智能。
enabled:v.使得;授予…权力;(enabled是enable的过去式) embodied:v.呈现(embody的过去式及过去分词形式);具体表达; intelligence:n.智力;智慧;才智;(尤指关于敌国的)情报;
We all have that. 我們都有。
Our body, its shape, material and structure, plays a fundamental role during a physical task, because we can conform to our environment so we can succeed in a large variety of situations without much planning or calculations ahead. 我們的身體、形狀、材質和結構, 在做動作時起至關重要的作用; 因為我們符合環境, 因此能在各種情況下成功, 無需提前計劃或計算。
fundamental:n.基础; adj.十分重大的; physical:adj.[物]物理的;身体的;物质的;符合自然法则的;n.体格检查; conform:v.遵守;相一致;顺从;相符合; variety:n.多样;种类;杂耍;变化,多样化;
So why don't we put some of this embodied intelligence into our robotic machines, to release them from relying on excessive work on computation and sensing? 那為什麼不把這些展現的身體智能 放入機器人, 讓它們擺脫 過度依賴計算和感知的工作呢？
release:v.释放;发射;让与;允许发表;n.释放;发布;让与; relying:v.依赖;信任;指望(rely的现在分词); excessive:adj.过多的,极度的;过分的; computation:n.估计,计算;
Well, to do that, we can follow the strategy of nature, because with evolution , she's done a pretty good job in designing machines for environment interaction. 為了做到這一點, 我們可以遵循自然的戰略; 因為演化過程中的機器 與環境的交互作用設計得非常好。
strategy:n.策略;行动计划;部署;战略; evolution:n.演变;进化;发展;渐进;
And it's easy to notice that nature uses soft material frequently and stiff material sparingly . 容易注意到大自然常用軟質的材料, 很少用堅硬的材料。
frequently:adv.频繁地,经常地;时常,屡次; sparingly:adv.节俭地;保守地;爱惜地;
And this is what is done in this new field or robotics , which is called "soft robotics ," 這就是在「軟式機器人」 這個新的機器人技術領域裡做的。
robotics:n.机器人学;
in which the main objective is not to make super-precise machines, because we've already got them, but to make robots able to face unexpected situations in the real world, so able to go out there. 主要的目標不是製造超精密的機器, 因為我們已經有了; 而是要讓機器人能夠面對 現實世界中的意外情況, 能夠走出去。
objective:n.目标; adj.客观的; unexpected:adj.意外的,想不到的;
And what makes a robot soft is first of all its compliant body, which is made of materials or structures that can undergo very large deformations , so no more rigid links, 要讓機器人柔軟 先要讓的它的身體柔順, 用可承受大變形的材料或結構構成, 不用剛性的連接。
first of all:adv.首先; compliant:adj.顺从的;服从的;应允的; structures:n.结构; v.建造(structure的第三人称单数形式); undergo:vt.经历,经受;忍受; deformations:[力]变形;
and secondly, to move them, we use what we call distributed actuation , so we have to control continuously the shape of this very deformable body, which has the effect of having a lot of links and joints, but we don't have any stiff structure at all. 其次,用分佈式驅動來移動它們, 必須不斷地控制 這種變形身體的形狀, 這種變形身體 有很多連接和關節的效果, 但沒有任何僵硬的結構。
distributed:adj.分布的;分散的;v.分发;分配;使分布(distribute的过去分词和过去式) actuation:n.冲动,驱使;刺激;行动; continuously:adv.连续不断地; deformable:adj.能变形的;n.可变形;
So you can imagine that building a soft robot is a very different process than stiff robotics, where you have links, gears , screws that you must combine in a very defined way. 可以想像建造軟式機器人 是個非常不一樣的過程, 不是用鏈接、齒輪、 螺絲的僵硬機器人, 必須以一種非常明確的方式結合。
process:v.处理;加工;列队行进;n.过程,进行;方法,adj.经过特殊加工(或处理)的; gears:n.[机]齿轮,[机]传动装置(gear的复数形式); v.以齿轮连起,安排(gear的三单形式); screws:n.[机]螺丝; v.用螺钉固定;
In soft robots, you just build your actuator from scratch most of the time, but you shape your flexible material to the form that responds to a certain input . 做軟式機器人大多時候只需從頭開始建造執行器, 但是將柔性的材料 塑造成會回應特定輸入的形式。
from scratch:白手起家;从头做起; flexible:adj.灵活的;柔韧的;易弯曲的; responds:v.(口头或书面)回答,回应;作出反应;响应;(respond的第三人称单数) input:n.投入; v.把(数据等)输入计算机;
For example, here, you can just deform a structure doing a fairly complex shape if you think about doing the same with rigid links and joints, and here, what you use is just one input, such as air pressure. 例如在這裡, 如果用剛性的鏈接和關節, 結構將會相當複雜; 而（軟式結構）這裡只需一個輸入, 例如氣壓。
fairly:adv.相当地;公平地;简直; complex:adj.复杂的;合成的;n.复合体;综合设施;
OK, but let's see some cool examples of soft robots. 讓我們看一些軟式機器人的酷例子。
Here is a little cute guy developed at Harvard University, and he works thanks to waves of pressure applied along its body, and thanks to the flexibility, he can also sneak under a low bridge, keep walking, and then keep walking a little bit different afterwards. 這裡有個哈佛大學開發的 可愛的小伙子, 由身體上施加的壓力波而行走; 並且靈活到可以在低矮的橋下潛行, 一直走, 一直走,然後有些不同。
Harvard:n.哈佛大学;哈佛大学学生; applied:adj.应用的;实用的;v.应用;使用;申请,请求;(apply的过去分词和过去式) sneak:v.溜; n.鬼鬼祟祟的人; adj.暗中进行的;
And it's a very preliminary prototype , but they also built a more robust version with power on board that can actually be sent out in the world and face real-world interactions like a car passing it over it ... 這是個極為初步的原型, 還有個配有電源板的進階版, 能實際在現實世界面對面交流, 例如汽車開過它的身旁,
preliminary:n.准备;预赛;初步措施;adj.初步的;开始的;预备的; prototype:n.原型;雏形;最初形态; robust:adj.强健的;健康的;粗野的;粗鲁的; real-world:adj.现实生活的;工作的; interactions:n.[计]交互,相互作用;相互交流;干扰;(interaction复数)
and keep working. 它繼續向前走。
It's cute. 它真可愛。
(Laughter) （笑聲）
Or a robotic fish, which swims like a real fish does in water simply because it has a soft tail with distributed actuation using still air pressure. 還有機器魚,像真魚一樣游在水中, 只因它有柔軟的尾巴, 用靜止空氣壓來分佈式驅動它。
That was from MIT, and of course, we have a robotic octopus. 是麻省理工學院做的。 當然,我們還有機器章魚。
This was actually one of the first projects developed in this new field of soft robots. 實際上是軟式機器人 這新領域開發的第一批專案之一。
Here, you see the artificial tentacle, but they actually built an entire machine with several tentacles they could just throw in the water, and you see that it can kind of go around and do submarine exploration in a different way than rigid robots would do. 這裡看得到人造的觸手, 實際上他們造了 帶有幾隻觸手的整個機器, 可以把它扔進水中, 它可以四處走動, 以不同於硬式機器人的 方式在水裡探索,
artificial:adj.人造的;仿造的;虚伪的;非原产地的;武断的; submarine:n.潜艇;adj.水下的;海底的v.用潜艇攻击;驾驶潜艇; exploration:n.探索;勘探;探险;[医]探查术;
But this is very important for delicate environments, such as coral reefs . 這對珊瑚礁等微妙環境非常重要。
delicate:adj.精致的,微妙的,脆弱的,熟练的,柔和的; coral:n.珊瑚;珊瑚虫;adj.珊瑚的;珊瑚色的; reefs:n.礁石(reef的复数形式); v.收帆;
Let's go back to the ground. 讓我們回到地面。
Here, you see the view from a growing robot developed by my colleagues in Stanford. 這裡看得到史丹佛大學的同事 正開發的機器人的圖。
colleagues:n.同事;同行(colleague的复数);
You see the camera fixed on top. 相機固定在頂部。
And this robot is particular, because using air pressure, it grows from the tip , while the rest of the body stays in firm contact with the environment. 這機器人很特別, 因為用氣壓,它向上長, 而身體的其餘部分 維持與環境的緊密接觸。
tip:n.小窍门,小费;v.给…小费;使倾斜; contact:n.接触,联系;v.使接触,联系;
And this is inspired by plants, not animals, which grows via the material in a similar manner so it can face a pretty large variety of situations. 它的靈感來自於植物,不是動物, 植物以類似的方式生長, 因此能面對各式各樣的狀況。
inspired:adj.受到启发的; v.鼓舞; (inspire的过去分词和过去式) via:prep.通过;经由;n.道路;[医]管道;
But I'm a biomedical engineer, and perhaps the application I like the most is in the medical field, and it's very difficult to imagine a closer interaction with the human body than actually going inside the body, for example, to perform a minimally invasive procedure . 我是生物醫學工程師, 我最喜歡醫學領域的應用, 難以想像還有更為緊密的 與人體的相互作用, 除非實際進入人體的內部, 例如,執行微創手術。
biomedical:adj.生物医学的; application:n.应用;申请;应用程序;敷用; perform:v.表演;执行;履行;演出;工作,运转(好/不好); minimally:adv.最低限度地;最低程度地; invasive:adj.侵略性的;攻击性的; procedure:n.步骤;手术;(商业、法律或政治上的)程序;
And here, robots can be very helpful with the surgeon , because they must enter the body using small holes and straight instruments , and these instruments must interact with very delicate structures in a very uncertain environment, and this must be done safely. 在此機器人能對外科醫師很有幫助, 因為醫師們必須使用小孔 和直的器械進入人體, 這些器械必須在很不確定的環境中 與非常微妙的結構相互作用, 且必須安全地進行。
surgeon:n.外科医生; instruments:n.器械;仪器;器具;手段(instrument的复数)
Also bringing the camera inside the body, so bringing the eyes of the surgeon inside the surgical field can be very challenging if you use a rigid stick, like a classic endoscope . 將相機帶入身體內部, 將外科醫師的眼睛帶入手術區域 如果用剛性棒可能極具挑戰, 像傳統的內視鏡之類的。
surgical:adj.外科的;外科手术的; classic:n.名著;优秀的典范;adj.最优秀的;第一流的;有代表性的;典型的; endoscope:n.[临床]内窥镜;内诊镜;
With my previous research group in Europe, we developed this self-camera robot for surgery , which is very different from a classic endoscope, which can move thanks to the flexibility of the module that can bend in every direction and also elongate . 我與以前在歐洲的研究小組一起 開發這款手術用的軟式照相機器人, 與傳統的內視鏡很不同,它能移動, 這要歸功於模塊的靈活性, 可以向各個方向彎曲或伸長。
previous:adj.以前的;早先的;过早的;adv.在先;在…以前; surgery:n.外科;外科手术;手术室;诊疗室; module:n.模块;组件;单元; elongate:v.(使)变长,伸长;拉长;adj.延长的;细长的;
And this was actually used by surgeons to see what they were doing with other instruments from different points of view, without caring that much about what was touched around. 實際上,外科醫師用這種方法 從不同的角度 觀察其他儀器進行的操作, 無須分心去在乎觸及了什麼。
surgeons:n.外科医生;(surgeon的复数)
And here you see the soft robot in action, and it just goes inside. 在這裡看得到軟式機器人在行動, 它進入體內,
This is a body simulator , not a real human body. 這是一具模擬的人體, 不是真正的人體。
simulator:n.模拟器;假装者,模拟者;
It goes around. 它四處走動。
You have a light, because usually, you don't have too many lights inside your body. 有個燈, 因為體內通常沒亮光。
We hope. 最好沒有。
(Laughter) （笑聲）
But sometimes, a surgical procedure can even be done using a single needle , and in Stanford now, we are working on a very flexible needle , kind of a very tiny soft robot 但有時候,甚至可以 用單針完成外科手術, 我們現今在史丹佛大學 研究一種非常靈活的針頭, 它是一種非常小巧的軟式機器人,
needle:n.针;针头;指针;缝针;v.穿过;刺激;拿针缝;拿针穿;
which is mechanically designed to use the interaction with the tissues and steer around inside a solid organ. 被設計來與組織相互作用, 在堅實的器官內轉來轉去,
mechanically:adv.机械地;呆板地;物理上地; tissues:n.纸巾,手巾纸;(人、动植物细胞的)组织;(tissue的复数) steer:v.引导;控制;操纵;驾驶(船、汽车等);n.建议;劝告;忠告;阉公牛;
This makes it possible to reach many different targets, such as tumors , deep inside a solid organ by using one single insertion point. 所以通過單個插入孔 就能到達實體器官深處的腫瘤 或許多不同目標。
tumors:n.肿瘤(tumor的复数); insertion:n.插入;嵌入;插入物;(书、文章等中)添加的东西;
And you can even steer around the structure that you want to avoid on the way to the target. 甚至還可以繞過
So clearly, this is a pretty exciting time for robotics. 顯然對於機器人來說 這是個非常來勁的時刻。
We have robots that have to deal with soft structures, so this poses new and very challenging questions for the robotics community , and indeed, we are just starting to learn how to control, how to put sensors on these very flexible structures. 有了軟式結構的機器人, 給機器人業界帶來新的、 極具挑戰性的問題, 而我們實際上才剛剛 開始學習如何控制, 如何將傳感器放在這些 非常靈活的結構上。
poses:姿势; community:n.社区;[生态]群落;共同体;团体; sensors:n.[自]传感器,感应器;感测器(sensor的复数);
But of course, we are not even close to what nature figured out in millions of years of evolution. 但是當然我們還離自然界 數百萬年演變過程中的 發現還遠得很。
But one thing I know for sure: robots will be softer and safer, and they will be out there helping people. 但有一點我很肯定: 機器人會更柔軟、更安全, 它們能幫人的還多著呢。
Thank you. 謝謝。
(Applause) （掌聲）