波士頓動力工程副總裁Aaron Saunders: 我們是如何教機器人學會跳舞的

{"type":"doc","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"不久前，波士頓動力發佈了"},{"type":"link","attrs":{"href":"https:\/\/www.youtube.com\/watch?v=fn3KWM1kuAw","title":"","type":null},"content":[{"type":"text","text":"一段視頻"}]},{"type":"text","text":"，Atlas、Spot 和 Handle 在視頻中跳着“Do You Love Me”。據視頻描述，這是“慶祝我們希望這是一個更加快樂的一年的開始”。到截稿爲止，這段視頻已經被收看了將近 2400 萬次，毫不奇怪，在技術力量和創意展示的驚人結合下，這段視頻如此流行。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"嚴格來說，視頻中發生的事情並不是突破性的，從某種意義上說，我們沒有看到任何一款機器人展現出全新的能力，但是這並不會影響到它給人的印象有多深刻——你所看到的是最先進的"},{"type":"link","attrs":{"href":"https:\/\/spectrum.ieee.org\/robotics\/humanoids\/how-boston-dynamics-is-redefining-robot-agility","title":"","type":null},"content":[{"type":"text","text":"人形機器人技術、四足機器人技術，以及不管是什麼鬼把手的機器人技術"}]},{"type":"text","text":"。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"這段視頻由波士頓動力製作，它的獨特之處在於它的藝術元素，大多數都是通過舞蹈編導"},{"type":"link","attrs":{"href":"https:\/\/twitter.com\/onetruebonc","title":"","type":null},"content":[{"type":"text","text":"Monica Thomas"}]},{"type":"text","text":"的合作製作的（你可以在"},{"type":"link","attrs":{"href":"https:\/\/www.madkingthomas.com\/","title":"","type":null},"content":[{"type":"text","text":"這裏"}]},{"type":"text","text":"看到她的其他作品）。我們知道"},{"type":"link","attrs":{"href":"https:\/\/robots.ieee.org\/robots\/atlas2016\/?utm_source=spectrum","title":"","type":null},"content":[{"type":"text","text":"Atlas"}]},{"type":"text","text":"能做一些實際的任務，我們也知道它能做體操、跑酷，但跳舞肯定是新鮮的東西。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"爲進一步瞭解這些舞蹈機器人（舞蹈機器人比看上去要複雜得多），我們採訪了波士頓動力的工程副總裁"},{"type":"link","attrs":{"href":"https:\/\/www.linkedin.com\/in\/aaron-saunders-28704055\/","title":"","type":null},"content":[{"type":"text","text":"Aaron Saunders"}]},{"type":"text","text":"。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/76\/02\/76584fd142cd1402ef7c2e526cb46402.png","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":"center","origin":null},"content":[{"type":"link","attrs":{"href":"https:\/\/youtu.be\/fn3KWM1kuAw","title":"","type":null},"content":[{"type":"text","text":"https:\/\/youtu.be\/fn3KWM1kuAw"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"Saunders 從 2003 年開始在波士頓動力工作，這意味着他參與了波士頓動力大量機器人的研究和開發，甚至包括那些你可能已經忘記的機器人。舉例來說，還記得"},{"type":"link","attrs":{"href":"https:\/\/www.youtube.com\/watch?v=UIipbi0cAVE","title":"","type":null},"content":[{"type":"text","text":"LittleDog"}]},{"type":"text","text":"嗎？這個可愛的小四足是由一個兩人小組設計和製作的，Saunders 就是其中之一。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"儘管從一開始他就參與了 Atlas 項目（並參與了波士頓動力的其他所有工作），Saunders 在過去幾年中一直是 Atlas 團隊的負責人，他非常友好地回答了我們有關他們舞蹈機器人的問題。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"IEEE Spectrum"},{"type":"text","text":": 你如何看待互聯網上對這段視頻的反應？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：我們對自己製作的視頻有着不同的期望，而這段視頻對我們來說絕對是立足於好玩的。YouTube 上的反應對我們來說是創紀錄的。我們收到了幾百封郵件、幾百個電話，大家都在表達了自己的熱情，也在分享自己的想法，我們下一步應該怎麼做，歌曲如何，舞蹈如何，所以這真的讓人覺得很有趣。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"在我 94 歲的奶奶看了 YouTube 的視頻後，我最喜歡的反應是，她通過家人發來消息，問我是否教過機器人那些可愛的動作。我認爲這段視頻可以吸引更多的觀衆，因爲它把古老的音樂和新技術結合起來。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"}],"text":"IEEE Spectrum"},{"type":"text","text":"：我們從來沒見過 Atlas 做出這種動作，你能告訴我們你是怎麼做到的嗎？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"strong"}],"text":"Aaron Saunders ："},{"type":"text","text":" 我們首先與舞蹈演員和舞蹈編導合作，通過創作、組合一套舞蹈動作，形成舞蹈的初步概念；挑戰之一可能是 Atlas 的核心挑戰，尤其是調整人類的舞蹈動作，使之能夠在機器人上表演。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"爲此，我們使用模擬技術對動作概念進行快速迭代，同時從舞蹈編導那裏獲取反饋信息，使 Atlas 有能力和速度執行的行爲。它是一個非常重複的過程，它們會逐行跳出它們想讓我們做的事情，而工程師則會看着屏幕說“這很容易”、“這很難”、“這讓我害怕”。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"接下來我們將討論，嘗試模擬中的不同之處，並通過調整找到一組可在 Atlas 上執行的兼容動作。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"從整個項目來看，隨着我們製作工具的進行，創作這些新舞蹈動作的時間越來越短，作爲一個例子，我們最終可以用一天的時間，也就是我們拍攝前一天，來製作 Atlas 的芭蕾動作，並且獲得成功。因此，它不是手寫的，也不是手工編碼的，而是一條管道，它允許你描述一組不同的動作，通過各種不同的輸入，然後推動機器人完成。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/e5\/e6\/e52be80ab3e25e491d15f36c65301ee6.jpg","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"}],"text":"IEEE Spectrum"},{"type":"text","text":"：在人類舞蹈中，有沒有什麼東西特別難以遷移到 Atlas？還是說 Atlas 能比人類做得更好？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"strong"}],"text":"Aaron Saunders ："},{"type":"text","text":" 在芭蕾部分，有些旋轉的轉體動作需要更多的迭代才能完成，因爲它們距離我們所擁有的跳躍、奔跑和其他經驗最遠，因此它們用新的方式挑戰機器和軟件。當然，當你帶着優秀運動員去做他們所做的事情時，我們不會低估他們的靈活性和力量，但對於機器人來說，這是個難題。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"基本上，我不認爲 Atlas 擁有運動員們所擁有的運動範圍和力量，儘管我們繼續朝這個方向發展機器人，因爲我們相信，爲了在商業上廣泛使用這類機器人，並最終將其應用到家庭，我們認爲機器人必須具備這樣的性能。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"機器人最擅長做的事情就是用同樣的方法一遍又一遍地做着同樣的事情。因此，一旦我們確定了我們想要做什麼，當我們用不同的攝影角度拍攝時，機器人就能不停地重複這樣做。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"}],"text":"IEEE Spectrum"},{"type":"text","text":"：我能理解你如何用人類舞蹈演員來幫你和 Atlas 一起編排舞步，但是和 Spot，特別是和 Handle 一起編導舞步，是怎麼做到的呢？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：在我看來，和我們一起工作的人們有很多思考運動的天賦，以及思考如何通過運動來表達自己。而且我們的機器人運動能力也很強：它們是動態的、激動人心的、平衡的。因此，我認爲我們找到的是，舞蹈演員和機器人如何移動相關聯，然後把它塑造成一個故事，無論它是兩條腿還是四條腿，這並不重要。如果沒有動物運動或者人類行爲的模板，你只需更加努力地思考如何去做一些事情，同樣也適用於更加務實的商業活動。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"}],"text":"IEEE Spectrum"},{"type":"text","text":"：你教機器人跳舞，或者做體操，或者跑酷，這些經驗對你的機器人商業應用方法有什麼啓示？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：我們認爲，在舞蹈和跑酷中固有的技巧，比如敏捷、平衡和感知能力，是所有機器人應用的基礎。或許更爲重要的是，尋找構建新機器人能力與享受樂趣之間的交匯點，一直是波士頓動力在機器人領域取得巨大進展的祕訣。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"舉個例子，當你通過要求你的機器人在幾天內做這些動態動作來挑戰極限時，你就能瞭解到很多關於硬件健壯性的知識。通過產品化，"},{"type":"link","attrs":{"href":"https:\/\/robots.ieee.org\/robots\/spotmini\/?utm_source=spectrum","title":"","type":null},"content":[{"type":"text","text":"Spot"}]},{"type":"text","text":"變得非常健壯，幾乎不需要維護，只要你教它跳舞，它就能整天跳舞。而如今它之所以如此健壯，是因爲我們從過去的事情中學到了很多經驗教訓，這些經驗教訓也許只是看起來怪怪的、有趣的。要進入未知的領域，瞭解自己不知道的東西。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/a0\/67\/a0fa01bd839f73f9a81b22e2e7dda967.jpg","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"}],"text":"IEEE Spectrum"},{"type":"text","text":"：看這類視頻通常很難判斷花費了多少時間來讓事情按你所希望的方式運行，以及它們代表了機器人的實際能力。請你談談這個問題好嗎？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：請允許我嘗試回答這段視頻中的問題，但是我想我們發佈的所有視頻都是一樣的。我們盡力去做，一旦成功，就會成功。對 Atlas 來說，大多數的機器人控制存在於我們之前的工作中，就像我們在跑酷方面所做的那樣，這使得我們能夠利用模型預測控制器來解決動態和平衡問題。利用這些控制器，我們可以在機器人上完成一組舞蹈動作，這些舞蹈動作是我們與舞蹈演員和舞蹈編導一起設計的。因此，我們花了大量時間，數月去思考舞蹈，編排動作，並反覆進行模擬。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"舞蹈需要很大的力量和速度，因此我們甚至升級了一些 Atlas 的硬件，讓它更有動力。舞蹈也許是我們迄今所做的最有力的事。雖然你可能會認爲跑酷看起來更具爆發力，但是舞蹈的運動量和速度卻令人難以置信。這也花費了幾個月的時間；在機器中創建與算法相匹配的能力。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"當我們得到最終的視頻序列後，我們只拍了兩天。大多數時間是用來研究如何在一組機器人的場景中移動攝像機，以錄製一個連續的兩分鐘的鏡頭，儘管我們跑動了很多次，錄製了很多次舞蹈，但我們仍然可以可靠地重複它。在開場的兩分鐘的鏡頭裏，沒有任何剪切和拼接。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"當然，我們的機器人在硬件方面也存在一些故障需要維護，有時可能會磕磕絆絆地摔倒。這樣的行爲並不是爲了產品化，也不是爲了使產品變得百分之百可靠，但是它們肯定是可以重複的。我試着坦率地說出我們能做什麼，而非我們曾經做過什麼。當你說你已經取得了一些成就時，我感覺到你需要誠實，誠實對我們來說非常重要。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"}],"text":"IEEE Spectrum"},{"type":"text","text":"：你說過 Spot 現在健壯到可以跳一整天的舞蹈了。Atlas 怎麼樣？如果你一直給它換電池，它也能整天跳舞嗎？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：Atlas 仍然是一臺機器，你知道……世界上只有少數的機器，它們非常複雜，可靠性並不是重點。當然，我們有時也會弄壞這個機器人。但是，在我們的工作中，硬件的堅固至關重要。要不是它的強健，我們根本做不出視頻。在我看來，Atlas 更像是一架直升飛機，你需要花費更多的時間來維護和操作。而 Spot，我們的期望是它更像一輛車，在你需要維護它之前，你可以開很久。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"}],"text":"IEEE Spectrum"},{"type":"text","text":"：在你教 Atlas 做新事情的時候， Atlas 有沒有使用機器學習？假如沒有，是什麼原因？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：身爲一家公司，我們已經探索了很多東西，但是 Atlas 還沒有使用學習控制器。希望有朝一日我們也能做到。目前 Atlas 的舞蹈表演採用了我們常說的反射式控制（reflexive control），它結合了對力作反應、在線和離線軌跡優化以及模型預測控制。由於這些技術是實現真正高性能的可靠方法，並且我們知道如何更好地使用這些工具，所以我們利用這些技術。至於對它們能做些什麼，我們還沒有找到出路。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"我們打算用學習來擴展和構建我們所開發的軟硬件的基礎，但是我想我們和社區仍然在努力尋找合適的地方來應用這些工具。你會發現這就是我們自然而然的發展過程。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/ea\/44\/eaee4e69fb724834bf7bd5438459f644.jpg","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"IEEE Spectrum ：目前， Atlas 的動態動作主要來自於它的下肢，但是跑酷也利用了上肢的力量和靈活性，我們已經看到了一些最近的概念圖，顯示 Atlas 正在進行跳馬和引體向上。可以再告訴我們一些嗎？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：人類和動物用它們的腿做一些令人驚奇的事，但是當它們用整個身體時，卻做了更令人驚奇的事。跑酷爲我們提供了一個奇妙的框架，使我們能夠向全身運動的方向發展。步行和跑步只是這一旅程的開始。在過去的幾年中，我們一直在研究更復雜的動態行爲，如跳躍和旋轉等。接下來的一步就是研究如何用手臂推動這個世界，從而擴大這個靈活性。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"Atlas 團隊的任務之一就是開始學習如何像使用腿一樣使用手臂，從而增強和擴展我們的機動能力。我對 Atlas 在接下來的幾年裏的工作感到非常興奮，因爲它將爲我們提供更多的機會去利用 Atlas 做一些令人興奮的事情。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"IEEE Spectrum ：你如何看待液壓驅動和電動驅動在高動態機器人中的作用？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：在我在波士頓動力的整個職業生涯中，我對許多不同類型的技術都充滿了熱情，但是現在我已經有了自己的想法，我並不認爲這是一個非此即彼的問題。在驅動技術的選擇上，我認爲真正的決定因素是你所製造的機器人的尺寸，你想要這個機器人做什麼，你想要它去哪裏，以及其他很多因素。最終，最好能在你的工具箱中有這兩種驅動技術，我喜歡使用這兩種驅動技術，我們已經成功地將它們用於製造給人印象深刻的動態機器。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"在我看來，液壓驅動和電動驅動之間唯一的界限可能就是規模。生產小型液壓設備確實是一項挑戰，因爲在工業中這些工作並不多見，而在工業中則更少出現大型電動設備。你可能會發現，這是這兩種技術之間的一種天然區分。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"IEEE Spectrum ：除了你在波士頓動力的工作外，你對最近的機器人研究最感興趣的是什麼？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：對我們公司來說，我們非常樂意將注意力集中在傳感、計算機視覺、地形學等技術上，這些技術越好，我們能做的就越多。就我個人而言，我喜歡集中研究操縱問題，特別是操縱研究，它可以幫助我們理解複雜的，基於摩擦的相互作用，例如滑動和推動，或者移動像繩索這樣的柔性物體。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"從簡單地捏東西，提東西，搬東西，丟東西，到更有意義地與環境互動，我們看到了一個轉變。我認爲這類操作研究，將釋放出移動操縱器的潛能，我認爲這將真正開啓機器人與世界進行大量互動的能力。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"blockquote","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"IEEE Spectrum ：你還想讓大家從這個視頻中得到什麼啓示嗎？"}]}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"italic"},{"type":"strong"}],"text":"Aaron Saunders"},{"type":"text","text":"：就個人而言，我認爲這是因爲我花了大量時間投入到機器人領域，並深刻地認識到什麼是機器人，它的能力和侷限性，我強烈的願望是讓更多的人花更多的時間與它相處。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"當人們在 YouTube 上觀看我們的視頻時，我們發現了許多觀點和想法，在我看來，如果更多的人有機會去思考和了解機器人，花時間與它相處，那麼這種新的理解水平將有助於他們想象出機器人在我們日常生活中有用的新方式。我覺得這些可能性非常激動人心，我只希望有更多的人能踏上這個旅程。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"strong"}],"text":"作者介紹："}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"Evan Ackerman，Automaton 特約編輯，IEEE Spectrums 獲獎機器人博客 Automaton 的高級作家。自 2007 年以來，他已經寫了 6000 多篇關於機器人技術和新興技術的文章。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"strong"}],"text":"原文鏈接："}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"https:\/\/spectrum.ieee.org\/automaton\/robotics\/humanoids\/how-boston-dynamics-taught-its-robots-to-dance"}]}]}