[Script Info] Title: [Events] Format: Layer, Start, End, Style, Name, MarginL, MarginR, MarginV, Effect, Text Dialogue: 0,0:00:00.00,0:00:03.00,Default,,0000,0000,0000,,So, the first robot to talk about is called STriDER. Dialogue: 0,0:00:03.00,0:00:05.00,Default,,0000,0000,0000,,It stands for Self-excited Dialogue: 0,0:00:05.00,0:00:07.00,Default,,0000,0000,0000,,Tripedal Dynamic Experimental Robot. Dialogue: 0,0:00:07.00,0:00:09.00,Default,,0000,0000,0000,,It's a robot that has three legs, Dialogue: 0,0:00:09.00,0:00:12.00,Default,,0000,0000,0000,,which is inspired by nature. Dialogue: 0,0:00:12.00,0:00:14.00,Default,,0000,0000,0000,,But have you seen anything in nature, Dialogue: 0,0:00:14.00,0:00:16.00,Default,,0000,0000,0000,,an animal that has three legs? Dialogue: 0,0:00:16.00,0:00:18.00,Default,,0000,0000,0000,,Probably not. So, why do I call this Dialogue: 0,0:00:18.00,0:00:20.00,Default,,0000,0000,0000,,a biologically inspired robot? How would it work? Dialogue: 0,0:00:20.00,0:00:23.00,Default,,0000,0000,0000,,But before that, let's look at pop culture. Dialogue: 0,0:00:23.00,0:00:26.00,Default,,0000,0000,0000,,So, you know H.G. Wells' "War of the Worlds," novel and movie. Dialogue: 0,0:00:26.00,0:00:28.00,Default,,0000,0000,0000,,And what you see over here is a very popular Dialogue: 0,0:00:28.00,0:00:30.00,Default,,0000,0000,0000,,video game, Dialogue: 0,0:00:30.00,0:00:33.00,Default,,0000,0000,0000,,and in this fiction they describe these alien creatures that Dialogue: 0,0:00:33.00,0:00:35.00,Default,,0000,0000,0000,,are robots that have three legs that terrorize Earth. Dialogue: 0,0:00:35.00,0:00:39.00,Default,,0000,0000,0000,,But my robot, STriDER, does not move like this. Dialogue: 0,0:00:39.00,0:00:42.00,Default,,0000,0000,0000,,So, this is an actual dynamic simulation animation. Dialogue: 0,0:00:42.00,0:00:44.00,Default,,0000,0000,0000,,I'm just going to show you how the robot works. Dialogue: 0,0:00:44.00,0:00:47.00,Default,,0000,0000,0000,,It flips its body 180 degrees Dialogue: 0,0:00:47.00,0:00:50.00,Default,,0000,0000,0000,,and it swings its leg between the two legs and catches the fall. Dialogue: 0,0:00:50.00,0:00:52.00,Default,,0000,0000,0000,,So, that's how it walks. But when you look at us Dialogue: 0,0:00:52.00,0:00:54.00,Default,,0000,0000,0000,,human being, bipedal walking, Dialogue: 0,0:00:54.00,0:00:56.00,Default,,0000,0000,0000,,what you're doing is you're not really using a muscle Dialogue: 0,0:00:56.00,0:00:59.00,Default,,0000,0000,0000,,to lift your leg and walk like a robot. Right? Dialogue: 0,0:00:59.00,0:01:02.00,Default,,0000,0000,0000,,What you're doing is you really swing your leg and catch the fall, Dialogue: 0,0:01:02.00,0:01:05.00,Default,,0000,0000,0000,,stand up again, swing your leg and catch the fall. Dialogue: 0,0:01:05.00,0:01:08.00,Default,,0000,0000,0000,,You're using your built-in dynamics, the physics of your body, Dialogue: 0,0:01:08.00,0:01:10.00,Default,,0000,0000,0000,,just like a pendulum. Dialogue: 0,0:01:10.00,0:01:14.00,Default,,0000,0000,0000,,We call that the concept of passive dynamic locomotion. Dialogue: 0,0:01:14.00,0:01:16.00,Default,,0000,0000,0000,,What you're doing is, when you stand up, Dialogue: 0,0:01:16.00,0:01:18.00,Default,,0000,0000,0000,,potential energy to kinetic energy, Dialogue: 0,0:01:18.00,0:01:20.00,Default,,0000,0000,0000,,potential energy to kinetic energy. Dialogue: 0,0:01:20.00,0:01:22.00,Default,,0000,0000,0000,,It's a constantly falling process. Dialogue: 0,0:01:22.00,0:01:25.00,Default,,0000,0000,0000,,So, even though there is nothing in nature that looks like this, Dialogue: 0,0:01:25.00,0:01:27.00,Default,,0000,0000,0000,,really, we were inspired by biology Dialogue: 0,0:01:27.00,0:01:29.00,Default,,0000,0000,0000,,and applying the principles of walking Dialogue: 0,0:01:29.00,0:01:32.00,Default,,0000,0000,0000,,to this robot. Thus it's a biologically inspired robot. Dialogue: 0,0:01:32.00,0:01:34.00,Default,,0000,0000,0000,,What you see over here, this is what we want to do next. Dialogue: 0,0:01:34.00,0:01:38.00,Default,,0000,0000,0000,,We want to fold up the legs and shoot it up for long-range motion. Dialogue: 0,0:01:38.00,0:01:41.00,Default,,0000,0000,0000,,And it deploys legs -- it looks almost like "Star Wars" -- Dialogue: 0,0:01:41.00,0:01:44.00,Default,,0000,0000,0000,,when it lands, it absorbs the shock and starts walking. Dialogue: 0,0:01:44.00,0:01:47.00,Default,,0000,0000,0000,,What you see over here, this yellow thing, this is not a death ray. (Laughter) Dialogue: 0,0:01:47.00,0:01:49.00,Default,,0000,0000,0000,,This is just to show you that if you have cameras Dialogue: 0,0:01:49.00,0:01:51.00,Default,,0000,0000,0000,,or different types of sensors -- Dialogue: 0,0:01:51.00,0:01:53.00,Default,,0000,0000,0000,,because it is tall, it's 1.8 meters tall -- Dialogue: 0,0:01:53.00,0:01:56.00,Default,,0000,0000,0000,,you can see over obstacles like bushes and those kinds of things. Dialogue: 0,0:01:56.00,0:01:58.00,Default,,0000,0000,0000,,So we have two prototypes. Dialogue: 0,0:01:58.00,0:02:01.00,Default,,0000,0000,0000,,The first version, in the back, that's STriDER I. Dialogue: 0,0:02:01.00,0:02:03.00,Default,,0000,0000,0000,,The one in front, the smaller, is STriDER II. Dialogue: 0,0:02:03.00,0:02:05.00,Default,,0000,0000,0000,,The problem that we had with STriDER I is Dialogue: 0,0:02:05.00,0:02:08.00,Default,,0000,0000,0000,,it was just too heavy in the body. We had so many motors, Dialogue: 0,0:02:08.00,0:02:10.00,Default,,0000,0000,0000,,you know, aligning the joints, and those kinds of things. Dialogue: 0,0:02:10.00,0:02:14.00,Default,,0000,0000,0000,,So, we decided to synthesize a mechanical mechanism Dialogue: 0,0:02:14.00,0:02:17.00,Default,,0000,0000,0000,,so we could get rid of all the motors, and with a single motor Dialogue: 0,0:02:17.00,0:02:19.00,Default,,0000,0000,0000,,we can coordinate all the motions. Dialogue: 0,0:02:19.00,0:02:22.00,Default,,0000,0000,0000,,It's a mechanical solution to a problem, instead of using mechatronics. Dialogue: 0,0:02:22.00,0:02:25.00,Default,,0000,0000,0000,,So, with this now the top body is light enough. So, it's walking in our lab; Dialogue: 0,0:02:25.00,0:02:28.00,Default,,0000,0000,0000,,this was the very first successful step. Dialogue: 0,0:02:28.00,0:02:30.00,Default,,0000,0000,0000,,It's still not perfected -- its coffee falls down -- Dialogue: 0,0:02:30.00,0:02:33.00,Default,,0000,0000,0000,,so we still have a lot of work to do. Dialogue: 0,0:02:33.00,0:02:36.00,Default,,0000,0000,0000,,The second robot I want to talk about is called IMPASS. Dialogue: 0,0:02:36.00,0:02:40.00,Default,,0000,0000,0000,,It stands for Intelligent Mobility Platform with Actuated Spoke System. Dialogue: 0,0:02:40.00,0:02:43.00,Default,,0000,0000,0000,,So, it's a wheel-leg hybrid robot. Dialogue: 0,0:02:43.00,0:02:45.00,Default,,0000,0000,0000,,So, think of a rimless wheel Dialogue: 0,0:02:45.00,0:02:47.00,Default,,0000,0000,0000,,or a spoke wheel, Dialogue: 0,0:02:47.00,0:02:50.00,Default,,0000,0000,0000,,but the spokes individually move in and out of the hub; Dialogue: 0,0:02:50.00,0:02:52.00,Default,,0000,0000,0000,,so, it's a wheel-leg hybrid. Dialogue: 0,0:02:52.00,0:02:54.00,Default,,0000,0000,0000,,We are literally re-inventing the wheel here. Dialogue: 0,0:02:54.00,0:02:57.00,Default,,0000,0000,0000,,Let me demonstrate how it works. Dialogue: 0,0:02:57.00,0:02:59.00,Default,,0000,0000,0000,,So, in this video we're using an approach Dialogue: 0,0:02:59.00,0:03:01.00,Default,,0000,0000,0000,,called the reactive approach. Dialogue: 0,0:03:01.00,0:03:04.00,Default,,0000,0000,0000,,Just simply using the tactile sensors on the feet, Dialogue: 0,0:03:04.00,0:03:06.00,Default,,0000,0000,0000,,it's trying to walk over a changing terrain, Dialogue: 0,0:03:06.00,0:03:09.00,Default,,0000,0000,0000,,a soft terrain where it pushes down and changes. Dialogue: 0,0:03:09.00,0:03:11.00,Default,,0000,0000,0000,,And just by the tactile information, Dialogue: 0,0:03:11.00,0:03:14.00,Default,,0000,0000,0000,,it successfully crosses over these type of terrain. Dialogue: 0,0:03:14.00,0:03:18.00,Default,,0000,0000,0000,,But, when it encounters a very extreme terrain, Dialogue: 0,0:03:18.00,0:03:21.00,Default,,0000,0000,0000,,in this case, this obstacle is more than three times Dialogue: 0,0:03:21.00,0:03:23.00,Default,,0000,0000,0000,,the height of the robot, Dialogue: 0,0:03:23.00,0:03:25.00,Default,,0000,0000,0000,,Then it switches to a deliberate mode, Dialogue: 0,0:03:25.00,0:03:27.00,Default,,0000,0000,0000,,where it uses a laser range finder, Dialogue: 0,0:03:27.00,0:03:29.00,Default,,0000,0000,0000,,and camera systems, to identify the obstacle and the size, Dialogue: 0,0:03:29.00,0:03:32.00,Default,,0000,0000,0000,,and it plans, carefully plans the motion of the spokes Dialogue: 0,0:03:32.00,0:03:34.00,Default,,0000,0000,0000,,and coordinates it so that it can show this Dialogue: 0,0:03:34.00,0:03:36.00,Default,,0000,0000,0000,,kind of very very impressive mobility. Dialogue: 0,0:03:36.00,0:03:38.00,Default,,0000,0000,0000,,You probably haven't seen anything like this out there. Dialogue: 0,0:03:38.00,0:03:41.00,Default,,0000,0000,0000,,This is a very high mobility robot Dialogue: 0,0:03:41.00,0:03:44.00,Default,,0000,0000,0000,,that we developed called IMPASS. Dialogue: 0,0:03:44.00,0:03:46.00,Default,,0000,0000,0000,,Ah, isn't that cool? Dialogue: 0,0:03:46.00,0:03:49.00,Default,,0000,0000,0000,,When you drive your car, Dialogue: 0,0:03:49.00,0:03:51.00,Default,,0000,0000,0000,,when you steer your car, you use a method Dialogue: 0,0:03:51.00,0:03:53.00,Default,,0000,0000,0000,,called Ackermann steering. Dialogue: 0,0:03:53.00,0:03:55.00,Default,,0000,0000,0000,,The front wheels rotate like this. Dialogue: 0,0:03:55.00,0:03:58.00,Default,,0000,0000,0000,,For most small wheeled robots, Dialogue: 0,0:03:58.00,0:04:00.00,Default,,0000,0000,0000,,they use a method called differential steering Dialogue: 0,0:04:00.00,0:04:03.00,Default,,0000,0000,0000,,where the left and right wheel turns the opposite direction. Dialogue: 0,0:04:03.00,0:04:06.00,Default,,0000,0000,0000,,For IMPASS, we can do many, many different types of motion. Dialogue: 0,0:04:06.00,0:04:09.00,Default,,0000,0000,0000,,For example, in this case, even though the left and right wheel is connected Dialogue: 0,0:04:09.00,0:04:11.00,Default,,0000,0000,0000,,with a single axle rotating at the same angle of velocity. Dialogue: 0,0:04:11.00,0:04:14.00,Default,,0000,0000,0000,,We just simply change the length of the spoke. Dialogue: 0,0:04:14.00,0:04:16.00,Default,,0000,0000,0000,,It affects the diameter and then can turn to the left, turn to the right. Dialogue: 0,0:04:16.00,0:04:18.00,Default,,0000,0000,0000,,So, these are just some examples of the neat things Dialogue: 0,0:04:18.00,0:04:21.00,Default,,0000,0000,0000,,that we can do with IMPASS. Dialogue: 0,0:04:21.00,0:04:23.00,Default,,0000,0000,0000,,This robot is called CLIMBeR: Dialogue: 0,0:04:23.00,0:04:26.00,Default,,0000,0000,0000,,Cable-suspended Limbed Intelligent Matching Behavior Robot. Dialogue: 0,0:04:26.00,0:04:29.00,Default,,0000,0000,0000,,So, I've been talking to a lot of NASA JPL scientists -- Dialogue: 0,0:04:29.00,0:04:31.00,Default,,0000,0000,0000,,at JPL they are famous for the Mars rovers -- Dialogue: 0,0:04:31.00,0:04:33.00,Default,,0000,0000,0000,,and the scientists, geologists always tell me Dialogue: 0,0:04:33.00,0:04:36.00,Default,,0000,0000,0000,,that the real interesting science, Dialogue: 0,0:04:36.00,0:04:39.00,Default,,0000,0000,0000,,the science-rich sites, are always at the cliffs. Dialogue: 0,0:04:39.00,0:04:41.00,Default,,0000,0000,0000,,But the current rovers cannot get there. Dialogue: 0,0:04:41.00,0:04:43.00,Default,,0000,0000,0000,,So, inspired by that we wanted to build a robot Dialogue: 0,0:04:43.00,0:04:46.00,Default,,0000,0000,0000,,that can climb a structured cliff environment. Dialogue: 0,0:04:46.00,0:04:48.00,Default,,0000,0000,0000,,So, this is CLIMBeR. Dialogue: 0,0:04:48.00,0:04:50.00,Default,,0000,0000,0000,,So, what it does, it has three legs. It's probably difficult to see, Dialogue: 0,0:04:50.00,0:04:53.00,Default,,0000,0000,0000,,but it has a winch and a cable at the top -- Dialogue: 0,0:04:53.00,0:04:55.00,Default,,0000,0000,0000,,and it tries to figure out the best place to put its foot. Dialogue: 0,0:04:55.00,0:04:57.00,Default,,0000,0000,0000,,And then once it figures that out Dialogue: 0,0:04:57.00,0:05:00.00,Default,,0000,0000,0000,,in real time, it calculates the force distribution: Dialogue: 0,0:05:00.00,0:05:03.00,Default,,0000,0000,0000,,how much force it needs to exert to the surface Dialogue: 0,0:05:03.00,0:05:05.00,Default,,0000,0000,0000,,so it doesn't tip and doesn't slip. Dialogue: 0,0:05:05.00,0:05:07.00,Default,,0000,0000,0000,,Once it stabilizes that, it lifts a foot, Dialogue: 0,0:05:07.00,0:05:11.00,Default,,0000,0000,0000,,and then with the winch it can climb up these kinds of thing. Dialogue: 0,0:05:11.00,0:05:13.00,Default,,0000,0000,0000,,Also for search and rescue applications as well. Dialogue: 0,0:05:13.00,0:05:15.00,Default,,0000,0000,0000,,Five years ago I actually worked at NASA JPL Dialogue: 0,0:05:15.00,0:05:17.00,Default,,0000,0000,0000,,during the summer as a faculty fellow. Dialogue: 0,0:05:17.00,0:05:21.00,Default,,0000,0000,0000,,And they already had a six legged robot called LEMUR. Dialogue: 0,0:05:21.00,0:05:24.00,Default,,0000,0000,0000,,So, this is actually based on that. This robot is called MARS: Dialogue: 0,0:05:24.00,0:05:27.00,Default,,0000,0000,0000,,Multi-Appendage Robotic System. So, it's a hexapod robot. Dialogue: 0,0:05:27.00,0:05:29.00,Default,,0000,0000,0000,,We developed our adaptive gait planner. Dialogue: 0,0:05:29.00,0:05:31.00,Default,,0000,0000,0000,,We actually have a very interesting payload on there. Dialogue: 0,0:05:31.00,0:05:33.00,Default,,0000,0000,0000,,The students like to have fun. And here you can see that it's Dialogue: 0,0:05:33.00,0:05:36.00,Default,,0000,0000,0000,,walking over unstructured terrain. Dialogue: 0,0:05:36.00,0:05:38.00,Default,,0000,0000,0000,,It's trying to walk on the coarse terrain, Dialogue: 0,0:05:38.00,0:05:40.00,Default,,0000,0000,0000,,sandy area, Dialogue: 0,0:05:40.00,0:05:45.00,Default,,0000,0000,0000,,but depending on the moisture content or the grain size of the sand Dialogue: 0,0:05:45.00,0:05:47.00,Default,,0000,0000,0000,,the foot's soil sinkage model changes. Dialogue: 0,0:05:47.00,0:05:51.00,Default,,0000,0000,0000,,So, it tries to adapt its gait to successfully cross over these kind of things. Dialogue: 0,0:05:51.00,0:05:53.00,Default,,0000,0000,0000,,And also, it does some fun stuff, as can imagine. Dialogue: 0,0:05:53.00,0:05:56.00,Default,,0000,0000,0000,,We get so many visitors visiting our lab. Dialogue: 0,0:05:56.00,0:05:58.00,Default,,0000,0000,0000,,So, when the visitors come, MARS walks up to the computer, Dialogue: 0,0:05:58.00,0:06:00.00,Default,,0000,0000,0000,,starts typing "Hello, my name is MARS." Dialogue: 0,0:06:00.00,0:06:02.00,Default,,0000,0000,0000,,Welcome to RoMeLa, Dialogue: 0,0:06:02.00,0:06:06.00,Default,,0000,0000,0000,,the Robotics Mechanisms Laboratory at Virginia Tech. Dialogue: 0,0:06:06.00,0:06:08.00,Default,,0000,0000,0000,,This robot is an amoeba robot. Dialogue: 0,0:06:08.00,0:06:11.00,Default,,0000,0000,0000,,Now, we don't have enough time to go into technical details, Dialogue: 0,0:06:11.00,0:06:13.00,Default,,0000,0000,0000,,I'll just show you some of the experiments. Dialogue: 0,0:06:13.00,0:06:15.00,Default,,0000,0000,0000,,So, this is some of the early feasibility experiments. Dialogue: 0,0:06:15.00,0:06:19.00,Default,,0000,0000,0000,,We store potential energy to the elastic skin to make it move. Dialogue: 0,0:06:19.00,0:06:21.00,Default,,0000,0000,0000,,Or use an active tension cords to make it move Dialogue: 0,0:06:21.00,0:06:24.00,Default,,0000,0000,0000,,forward and backward. It's called ChIMERA. Dialogue: 0,0:06:24.00,0:06:26.00,Default,,0000,0000,0000,,We also have been working with some scientists Dialogue: 0,0:06:26.00,0:06:28.00,Default,,0000,0000,0000,,and engineers from UPenn Dialogue: 0,0:06:28.00,0:06:30.00,Default,,0000,0000,0000,,to come up with a chemically actuated version Dialogue: 0,0:06:30.00,0:06:32.00,Default,,0000,0000,0000,,of this amoeba robot. Dialogue: 0,0:06:32.00,0:06:34.00,Default,,0000,0000,0000,,We do something to something Dialogue: 0,0:06:34.00,0:06:40.00,Default,,0000,0000,0000,,And just like magic, it moves. The blob. Dialogue: 0,0:06:40.00,0:06:42.00,Default,,0000,0000,0000,,This robot is a very recent project. It's called RAPHaEL. Dialogue: 0,0:06:42.00,0:06:45.00,Default,,0000,0000,0000,,Robotic Air Powered Hand with Elastic Ligaments. Dialogue: 0,0:06:45.00,0:06:49.00,Default,,0000,0000,0000,,There are a lot of really neat, very good robotic hands out there in the market. Dialogue: 0,0:06:49.00,0:06:53.00,Default,,0000,0000,0000,,The problem is they're just too expensive, tens of thousands of dollars. Dialogue: 0,0:06:53.00,0:06:55.00,Default,,0000,0000,0000,,So, for prosthesis applications it's probably not too practical, Dialogue: 0,0:06:55.00,0:06:57.00,Default,,0000,0000,0000,,because it's not affordable. Dialogue: 0,0:06:57.00,0:07:01.00,Default,,0000,0000,0000,,We wanted to go tackle this problem in a very different direction. Dialogue: 0,0:07:01.00,0:07:04.00,Default,,0000,0000,0000,,Instead of using electrical motors, electromechanical actuators, Dialogue: 0,0:07:04.00,0:07:06.00,Default,,0000,0000,0000,,we're using compressed air. Dialogue: 0,0:07:06.00,0:07:08.00,Default,,0000,0000,0000,,We developed these novel actuators for joints. Dialogue: 0,0:07:08.00,0:07:11.00,Default,,0000,0000,0000,,It is compliant. You can actually change the force, Dialogue: 0,0:07:11.00,0:07:13.00,Default,,0000,0000,0000,,simply just changing the air pressure. Dialogue: 0,0:07:13.00,0:07:15.00,Default,,0000,0000,0000,,And it can actually crush an empty soda can. Dialogue: 0,0:07:15.00,0:07:18.00,Default,,0000,0000,0000,,It can pick up very delicate objects like a raw egg, Dialogue: 0,0:07:18.00,0:07:21.00,Default,,0000,0000,0000,,or in this case, a lightbulb. Dialogue: 0,0:07:21.00,0:07:25.00,Default,,0000,0000,0000,,The best part, it took only $200 dollars to make the first prototype. Dialogue: 0,0:07:25.00,0:07:28.00,Default,,0000,0000,0000,,This robot is actually a family of snake robots Dialogue: 0,0:07:28.00,0:07:30.00,Default,,0000,0000,0000,,that we call HyDRAS, Dialogue: 0,0:07:30.00,0:07:32.00,Default,,0000,0000,0000,,Hyper Degrees-of-freedom Robotic Articulated Serpentine. Dialogue: 0,0:07:32.00,0:07:35.00,Default,,0000,0000,0000,,This is a robot that can climb structures. Dialogue: 0,0:07:35.00,0:07:37.00,Default,,0000,0000,0000,,This is a HyDRAS's arm. Dialogue: 0,0:07:37.00,0:07:39.00,Default,,0000,0000,0000,,It's a 12 degrees of freedom robotic arm. Dialogue: 0,0:07:39.00,0:07:41.00,Default,,0000,0000,0000,,But the cool part is the user interface. Dialogue: 0,0:07:41.00,0:07:44.00,Default,,0000,0000,0000,,The cable over there, that's an optical fiber. Dialogue: 0,0:07:44.00,0:07:46.00,Default,,0000,0000,0000,,And this student, probably the first time using it, Dialogue: 0,0:07:46.00,0:07:48.00,Default,,0000,0000,0000,,but she can articulate it many different ways. Dialogue: 0,0:07:48.00,0:07:51.00,Default,,0000,0000,0000,,So, for example in Iraq, you know, the war zone, Dialogue: 0,0:07:51.00,0:07:53.00,Default,,0000,0000,0000,,there is roadside bombs. Currently you send these Dialogue: 0,0:07:53.00,0:07:56.00,Default,,0000,0000,0000,,remotely controlled vehicles that are armed. Dialogue: 0,0:07:56.00,0:07:58.00,Default,,0000,0000,0000,,It takes really a lot of time and it's expensive Dialogue: 0,0:07:58.00,0:08:02.00,Default,,0000,0000,0000,,to train the operator to operate this complex arm. Dialogue: 0,0:08:02.00,0:08:04.00,Default,,0000,0000,0000,,In this case it's very intuitive; Dialogue: 0,0:08:04.00,0:08:08.00,Default,,0000,0000,0000,,this student, probably his first time using it, doing very complex manipulation tasks, Dialogue: 0,0:08:08.00,0:08:10.00,Default,,0000,0000,0000,,picking up objects and doing manipulation, Dialogue: 0,0:08:10.00,0:08:13.00,Default,,0000,0000,0000,,just like that. Very intuitive. Dialogue: 0,0:08:15.00,0:08:17.00,Default,,0000,0000,0000,,Now, this robot is currently our star robot. Dialogue: 0,0:08:17.00,0:08:20.00,Default,,0000,0000,0000,,We actually have a fan club for the robot, DARwIn: Dialogue: 0,0:08:20.00,0:08:23.00,Default,,0000,0000,0000,,Dynamic Anthropomorphic Robot with Intelligence. Dialogue: 0,0:08:23.00,0:08:25.00,Default,,0000,0000,0000,,As you know, we are very interested in Dialogue: 0,0:08:25.00,0:08:27.00,Default,,0000,0000,0000,,humanoid robot, human walking, Dialogue: 0,0:08:27.00,0:08:29.00,Default,,0000,0000,0000,,so we decided to build a small humanoid robot. Dialogue: 0,0:08:29.00,0:08:31.00,Default,,0000,0000,0000,,This was in 2004; at that time, Dialogue: 0,0:08:31.00,0:08:33.00,Default,,0000,0000,0000,,this was something really, really revolutionary. Dialogue: 0,0:08:33.00,0:08:35.00,Default,,0000,0000,0000,,This was more of a feasibility study: Dialogue: 0,0:08:35.00,0:08:37.00,Default,,0000,0000,0000,,What kind of motors should we use? Dialogue: 0,0:08:37.00,0:08:39.00,Default,,0000,0000,0000,,Is it even possible? What kinds of controls should we do? Dialogue: 0,0:08:39.00,0:08:41.00,Default,,0000,0000,0000,,So, this does not have any sensors. Dialogue: 0,0:08:41.00,0:08:43.00,Default,,0000,0000,0000,,So, it's an open loop control. Dialogue: 0,0:08:43.00,0:08:45.00,Default,,0000,0000,0000,,For those who probably know, if you don't have any sensors Dialogue: 0,0:08:45.00,0:08:47.00,Default,,0000,0000,0000,,and there are any disturbances, you know what happens. Dialogue: 0,0:08:50.00,0:08:51.00,Default,,0000,0000,0000,,(Laughter) Dialogue: 0,0:08:51.00,0:08:53.00,Default,,0000,0000,0000,,So, based on that success, the following year Dialogue: 0,0:08:53.00,0:08:56.00,Default,,0000,0000,0000,,we did the proper mechanical design Dialogue: 0,0:08:56.00,0:08:58.00,Default,,0000,0000,0000,,starting from kinematics. Dialogue: 0,0:08:58.00,0:09:00.00,Default,,0000,0000,0000,,And thus, DARwIn I was born in 2005. Dialogue: 0,0:09:00.00,0:09:02.00,Default,,0000,0000,0000,,It stands up, it walks -- very impressive. Dialogue: 0,0:09:02.00,0:09:04.00,Default,,0000,0000,0000,,However, still, as you can see, Dialogue: 0,0:09:04.00,0:09:08.00,Default,,0000,0000,0000,,it has a cord, umbilical cord. So, we're still using an external power source Dialogue: 0,0:09:08.00,0:09:10.00,Default,,0000,0000,0000,,and external computation. Dialogue: 0,0:09:10.00,0:09:14.00,Default,,0000,0000,0000,,So, in 2006, now it's really time to have fun. Dialogue: 0,0:09:14.00,0:09:17.00,Default,,0000,0000,0000,,Let's give it intelligence. We give it all the computing power it needs: Dialogue: 0,0:09:17.00,0:09:19.00,Default,,0000,0000,0000,,a 1.5 gigahertz Pentium M chip, Dialogue: 0,0:09:19.00,0:09:21.00,Default,,0000,0000,0000,,two FireWire cameras, rate gyros, accelerometers, Dialogue: 0,0:09:21.00,0:09:24.00,Default,,0000,0000,0000,,four force sensors on the foot, lithium polymer batteries. Dialogue: 0,0:09:24.00,0:09:28.00,Default,,0000,0000,0000,,And now DARwIn II is completely autonomous. Dialogue: 0,0:09:28.00,0:09:30.00,Default,,0000,0000,0000,,It is not remote controlled. Dialogue: 0,0:09:30.00,0:09:33.00,Default,,0000,0000,0000,,There are no tethers. It looks around, searches for the ball, Dialogue: 0,0:09:33.00,0:09:36.00,Default,,0000,0000,0000,,looks around, searches for the ball, and it tries to play a game of soccer, Dialogue: 0,0:09:36.00,0:09:39.00,Default,,0000,0000,0000,,autonomously: artificial intelligence. Dialogue: 0,0:09:39.00,0:09:42.00,Default,,0000,0000,0000,,Let's see how it does. This was our very first trial, Dialogue: 0,0:09:42.00,0:09:47.00,Default,,0000,0000,0000,,and... Spectators (Video): Goal! Dialogue: 0,0:09:48.00,0:09:51.00,Default,,0000,0000,0000,,Dennis Hong: So, there is actually a competition called RoboCup. Dialogue: 0,0:09:51.00,0:09:53.00,Default,,0000,0000,0000,,I don't know how many of you have heard about RoboCup. Dialogue: 0,0:09:53.00,0:09:58.00,Default,,0000,0000,0000,,It's an international autonomous robot soccer competition. Dialogue: 0,0:09:58.00,0:10:01.00,Default,,0000,0000,0000,,And the goal of RoboCup, the actual goal is, Dialogue: 0,0:10:01.00,0:10:03.00,Default,,0000,0000,0000,,by the year 2050 Dialogue: 0,0:10:03.00,0:10:06.00,Default,,0000,0000,0000,,we want to have full size, autonomous humanoid robots Dialogue: 0,0:10:06.00,0:10:10.00,Default,,0000,0000,0000,,play soccer against the human World Cup champions Dialogue: 0,0:10:10.00,0:10:12.00,Default,,0000,0000,0000,,and win. Dialogue: 0,0:10:12.00,0:10:14.00,Default,,0000,0000,0000,,It's a true actual goal. It's a very ambitious goal, Dialogue: 0,0:10:14.00,0:10:16.00,Default,,0000,0000,0000,,but we truly believe that we can do it. Dialogue: 0,0:10:16.00,0:10:19.00,Default,,0000,0000,0000,,So, this is last year in China. Dialogue: 0,0:10:19.00,0:10:21.00,Default,,0000,0000,0000,,We were the very first team in the United States that qualified Dialogue: 0,0:10:21.00,0:10:23.00,Default,,0000,0000,0000,,in the humanoid RoboCup competition. Dialogue: 0,0:10:23.00,0:10:26.00,Default,,0000,0000,0000,,This is this year in Austria. Dialogue: 0,0:10:26.00,0:10:28.00,Default,,0000,0000,0000,,You're going to see the action, three against three, Dialogue: 0,0:10:28.00,0:10:30.00,Default,,0000,0000,0000,,completely autonomous. Dialogue: 0,0:10:30.00,0:10:32.00,Default,,0000,0000,0000,,There you go. Yes! Dialogue: 0,0:10:33.00,0:10:35.00,Default,,0000,0000,0000,,The robots track and they Dialogue: 0,0:10:35.00,0:10:38.00,Default,,0000,0000,0000,,team play amongst themselves. Dialogue: 0,0:10:38.00,0:10:40.00,Default,,0000,0000,0000,,It's very impressive. It's really a research event Dialogue: 0,0:10:40.00,0:10:44.00,Default,,0000,0000,0000,,packaged in a more exciting competition event. Dialogue: 0,0:10:44.00,0:10:46.00,Default,,0000,0000,0000,,What you see over here, this is the beautiful Dialogue: 0,0:10:46.00,0:10:48.00,Default,,0000,0000,0000,,Louis Vuitton Cup trophy. Dialogue: 0,0:10:48.00,0:10:50.00,Default,,0000,0000,0000,,So, this is for the best humanoid, Dialogue: 0,0:10:50.00,0:10:52.00,Default,,0000,0000,0000,,and we would like to bring this for the very first time, to the United States Dialogue: 0,0:10:52.00,0:10:54.00,Default,,0000,0000,0000,,next year, so wish us luck. Dialogue: 0,0:10:54.00,0:10:56.00,Default,,0000,0000,0000,,(Applause) Dialogue: 0,0:10:56.00,0:10:59.00,Default,,0000,0000,0000,,Thank you. Dialogue: 0,0:10:59.00,0:11:01.00,Default,,0000,0000,0000,,DARwIn also has a lot of other talents. Dialogue: 0,0:11:01.00,0:11:04.00,Default,,0000,0000,0000,,Last year it actually conducted the Roanoke Symphony Orchestra Dialogue: 0,0:11:04.00,0:11:07.00,Default,,0000,0000,0000,,for the holiday concert. Dialogue: 0,0:11:07.00,0:11:10.00,Default,,0000,0000,0000,,This is the next generation robot, DARwIn IV, Dialogue: 0,0:11:10.00,0:11:13.00,Default,,0000,0000,0000,,but smarter, faster, stronger. Dialogue: 0,0:11:13.00,0:11:15.00,Default,,0000,0000,0000,,And it's trying to show off its ability: Dialogue: 0,0:11:15.00,0:11:18.00,Default,,0000,0000,0000,,"I'm macho, I'm strong. Dialogue: 0,0:11:18.00,0:11:21.00,Default,,0000,0000,0000,,I can also do some Jackie Chan-motion, Dialogue: 0,0:11:21.00,0:11:24.00,Default,,0000,0000,0000,,martial art movements." Dialogue: 0,0:11:24.00,0:11:26.00,Default,,0000,0000,0000,,(Laughter) Dialogue: 0,0:11:26.00,0:11:28.00,Default,,0000,0000,0000,,And it walks away. So, this is DARwIn IV. Dialogue: 0,0:11:28.00,0:11:30.00,Default,,0000,0000,0000,,And again, you'll be able to see it in the lobby. Dialogue: 0,0:11:30.00,0:11:32.00,Default,,0000,0000,0000,,We truly believe this is going to be the very first running Dialogue: 0,0:11:32.00,0:11:35.00,Default,,0000,0000,0000,,humanoid robot in the United States. So, stay tuned. Dialogue: 0,0:11:35.00,0:11:38.00,Default,,0000,0000,0000,,All right. So I showed you some of our exciting robots at work. Dialogue: 0,0:11:38.00,0:11:41.00,Default,,0000,0000,0000,,So, what is the secret of our success? Dialogue: 0,0:11:41.00,0:11:43.00,Default,,0000,0000,0000,,Where do we come up with these ideas? Dialogue: 0,0:11:43.00,0:11:45.00,Default,,0000,0000,0000,,How do we develop these kinds of ideas? Dialogue: 0,0:11:45.00,0:11:47.00,Default,,0000,0000,0000,,We have a fully autonomous vehicle Dialogue: 0,0:11:47.00,0:11:49.00,Default,,0000,0000,0000,,that can drive into urban environments. We won a half a million dollars Dialogue: 0,0:11:49.00,0:11:51.00,Default,,0000,0000,0000,,in the DARPA Urban Challenge. Dialogue: 0,0:11:51.00,0:11:53.00,Default,,0000,0000,0000,,We also have the world's very first Dialogue: 0,0:11:53.00,0:11:55.00,Default,,0000,0000,0000,,vehicle that can be driven by the blind. Dialogue: 0,0:11:55.00,0:11:57.00,Default,,0000,0000,0000,,We call it the Blind Driver Challenge, very exciting. Dialogue: 0,0:11:57.00,0:12:01.00,Default,,0000,0000,0000,,And many, many other robotics projects I want to talk about. Dialogue: 0,0:12:01.00,0:12:03.00,Default,,0000,0000,0000,,These are just the awards that we won in 2007 fall Dialogue: 0,0:12:03.00,0:12:06.00,Default,,0000,0000,0000,,from robotics competitions and those kinds of things. Dialogue: 0,0:12:06.00,0:12:08.00,Default,,0000,0000,0000,,So, really, we have five secrets. Dialogue: 0,0:12:08.00,0:12:10.00,Default,,0000,0000,0000,,First is: Where do we get inspiration? Dialogue: 0,0:12:10.00,0:12:12.00,Default,,0000,0000,0000,,Where do we get this spark of imagination? Dialogue: 0,0:12:12.00,0:12:15.00,Default,,0000,0000,0000,,This is a true story, my personal story. Dialogue: 0,0:12:15.00,0:12:17.00,Default,,0000,0000,0000,,At night when I go to bed, 3 - 4 a.m. in the morning, Dialogue: 0,0:12:17.00,0:12:20.00,Default,,0000,0000,0000,,I lie down, close my eyes, and I see these lines and circles Dialogue: 0,0:12:20.00,0:12:22.00,Default,,0000,0000,0000,,and different shapes floating around. Dialogue: 0,0:12:22.00,0:12:25.00,Default,,0000,0000,0000,,And they assemble, and they form these kinds of mechanisms. Dialogue: 0,0:12:25.00,0:12:27.00,Default,,0000,0000,0000,,And then I think, "Ah this is cool." Dialogue: 0,0:12:27.00,0:12:29.00,Default,,0000,0000,0000,,So, right next to my bed I keep a notebook, Dialogue: 0,0:12:29.00,0:12:32.00,Default,,0000,0000,0000,,a journal, with a special pen that has a light on it, LED light, Dialogue: 0,0:12:32.00,0:12:34.00,Default,,0000,0000,0000,,because I don't want to turn on the light and wake up my wife. Dialogue: 0,0:12:34.00,0:12:36.00,Default,,0000,0000,0000,,So, I see this, scribble everything down, draw things, Dialogue: 0,0:12:36.00,0:12:38.00,Default,,0000,0000,0000,,and I go to bed. Dialogue: 0,0:12:38.00,0:12:40.00,Default,,0000,0000,0000,,Every day in the morning, Dialogue: 0,0:12:40.00,0:12:42.00,Default,,0000,0000,0000,,the first thing I do before my first cup of coffee, Dialogue: 0,0:12:42.00,0:12:44.00,Default,,0000,0000,0000,,before I brush my teeth, I open my notebook. Dialogue: 0,0:12:44.00,0:12:46.00,Default,,0000,0000,0000,,Many times it's empty, Dialogue: 0,0:12:46.00,0:12:48.00,Default,,0000,0000,0000,,sometimes I have something there -- if something's there, sometimes it's junk -- Dialogue: 0,0:12:48.00,0:12:51.00,Default,,0000,0000,0000,,but most of the time I can't even read my handwriting. Dialogue: 0,0:12:51.00,0:12:54.00,Default,,0000,0000,0000,,And so, 4 am in the morning, what do you expect, right? Dialogue: 0,0:12:54.00,0:12:56.00,Default,,0000,0000,0000,,So, I need to decipher what I wrote. Dialogue: 0,0:12:56.00,0:12:59.00,Default,,0000,0000,0000,,But sometimes I see this ingenious idea in there, Dialogue: 0,0:12:59.00,0:13:01.00,Default,,0000,0000,0000,,and I have this eureka moment. Dialogue: 0,0:13:01.00,0:13:03.00,Default,,0000,0000,0000,,I directly run to my home office, sit at my computer, Dialogue: 0,0:13:03.00,0:13:05.00,Default,,0000,0000,0000,,I type in the ideas, I sketch things out Dialogue: 0,0:13:05.00,0:13:08.00,Default,,0000,0000,0000,,and I keep a database of ideas. Dialogue: 0,0:13:08.00,0:13:10.00,Default,,0000,0000,0000,,So, when we have these calls for proposals, Dialogue: 0,0:13:10.00,0:13:12.00,Default,,0000,0000,0000,,I try to find a match between my Dialogue: 0,0:13:12.00,0:13:14.00,Default,,0000,0000,0000,,potential ideas Dialogue: 0,0:13:14.00,0:13:16.00,Default,,0000,0000,0000,,and the problem. If there is a match we write a research proposal, Dialogue: 0,0:13:16.00,0:13:20.00,Default,,0000,0000,0000,,get the research funding in, and that's how we start our research programs. Dialogue: 0,0:13:20.00,0:13:23.00,Default,,0000,0000,0000,,But just a spark of imagination is not good enough. Dialogue: 0,0:13:23.00,0:13:25.00,Default,,0000,0000,0000,,How do we develop these kinds of ideas? Dialogue: 0,0:13:25.00,0:13:28.00,Default,,0000,0000,0000,,At our lab RoMeLa, the Robotics and Mechanisms Laboratory, Dialogue: 0,0:13:28.00,0:13:31.00,Default,,0000,0000,0000,,we have these fantastic brainstorming sessions. Dialogue: 0,0:13:31.00,0:13:33.00,Default,,0000,0000,0000,,So, we gather around, we discuss about problems Dialogue: 0,0:13:33.00,0:13:35.00,Default,,0000,0000,0000,,and social problems and talk about it. Dialogue: 0,0:13:35.00,0:13:38.00,Default,,0000,0000,0000,,But before we start we set this golden rule. Dialogue: 0,0:13:38.00,0:13:40.00,Default,,0000,0000,0000,,The rule is: Dialogue: 0,0:13:40.00,0:13:43.00,Default,,0000,0000,0000,,Nobody criticizes anybody's ideas. Dialogue: 0,0:13:43.00,0:13:45.00,Default,,0000,0000,0000,,Nobody criticizes any opinion. Dialogue: 0,0:13:45.00,0:13:47.00,Default,,0000,0000,0000,,This is important, because many times students, they fear Dialogue: 0,0:13:47.00,0:13:50.00,Default,,0000,0000,0000,,or they feel uncomfortable how others might think Dialogue: 0,0:13:50.00,0:13:52.00,Default,,0000,0000,0000,,about their opinions and thoughts. Dialogue: 0,0:13:52.00,0:13:54.00,Default,,0000,0000,0000,,So, once you do this, it is amazing Dialogue: 0,0:13:54.00,0:13:56.00,Default,,0000,0000,0000,,how the students open up. Dialogue: 0,0:13:56.00,0:13:59.00,Default,,0000,0000,0000,,They have these wacky, cool, crazy, brilliant ideas, and Dialogue: 0,0:13:59.00,0:14:02.00,Default,,0000,0000,0000,,the whole room is just electrified with creative energy. Dialogue: 0,0:14:02.00,0:14:05.00,Default,,0000,0000,0000,,And this is how we develop our ideas. Dialogue: 0,0:14:05.00,0:14:08.00,Default,,0000,0000,0000,,Well, we're running out of time. One more thing I want to talk about is, Dialogue: 0,0:14:08.00,0:14:12.00,Default,,0000,0000,0000,,you know, just a spark of idea and development is not good enough. Dialogue: 0,0:14:12.00,0:14:14.00,Default,,0000,0000,0000,,There was a great TED moment, Dialogue: 0,0:14:14.00,0:14:17.00,Default,,0000,0000,0000,,I think it was Sir Ken Robinson, was it? Dialogue: 0,0:14:17.00,0:14:19.00,Default,,0000,0000,0000,,He gave a talk about how education Dialogue: 0,0:14:19.00,0:14:21.00,Default,,0000,0000,0000,,and school kills creativity. Dialogue: 0,0:14:21.00,0:14:24.00,Default,,0000,0000,0000,,Well, actually, there are two sides to the story. Dialogue: 0,0:14:24.00,0:14:27.00,Default,,0000,0000,0000,,So, there is only so much one can do Dialogue: 0,0:14:27.00,0:14:29.00,Default,,0000,0000,0000,,with just ingenious ideas Dialogue: 0,0:14:29.00,0:14:32.00,Default,,0000,0000,0000,,and creativity and good engineering intuition. Dialogue: 0,0:14:32.00,0:14:34.00,Default,,0000,0000,0000,,If you want to go beyond a tinkering, Dialogue: 0,0:14:34.00,0:14:36.00,Default,,0000,0000,0000,,if you want to go beyond a hobby of robotics Dialogue: 0,0:14:36.00,0:14:39.00,Default,,0000,0000,0000,,and really tackle the grand challenges of robotics Dialogue: 0,0:14:39.00,0:14:41.00,Default,,0000,0000,0000,,through rigorous research Dialogue: 0,0:14:41.00,0:14:44.00,Default,,0000,0000,0000,,we need more than that. This is where school comes in. Dialogue: 0,0:14:44.00,0:14:47.00,Default,,0000,0000,0000,,Batman, fighting against bad guys, Dialogue: 0,0:14:47.00,0:14:49.00,Default,,0000,0000,0000,,he has his utility belt, he has his grappling hook, Dialogue: 0,0:14:49.00,0:14:51.00,Default,,0000,0000,0000,,he has all different kinds of gadgets. Dialogue: 0,0:14:51.00,0:14:53.00,Default,,0000,0000,0000,,For us roboticists, engineers and scientists, Dialogue: 0,0:14:53.00,0:14:58.00,Default,,0000,0000,0000,,these tools, these are the courses and classes you take in class. Dialogue: 0,0:14:58.00,0:15:00.00,Default,,0000,0000,0000,,Math, differential equations. Dialogue: 0,0:15:00.00,0:15:02.00,Default,,0000,0000,0000,,I have linear algebra, science, physics, Dialogue: 0,0:15:02.00,0:15:05.00,Default,,0000,0000,0000,,even nowadays, chemistry and biology, as you've seen. Dialogue: 0,0:15:05.00,0:15:07.00,Default,,0000,0000,0000,,These are all the tools that we need. Dialogue: 0,0:15:07.00,0:15:09.00,Default,,0000,0000,0000,,So, the more tools you have, for Batman, Dialogue: 0,0:15:09.00,0:15:11.00,Default,,0000,0000,0000,,more effective at fighting the bad guys, Dialogue: 0,0:15:11.00,0:15:15.00,Default,,0000,0000,0000,,for us, more tools to attack these kinds of big problems. Dialogue: 0,0:15:15.00,0:15:18.00,Default,,0000,0000,0000,,So, education is very important. Dialogue: 0,0:15:18.00,0:15:20.00,Default,,0000,0000,0000,,Also, it's not about that, Dialogue: 0,0:15:20.00,0:15:22.00,Default,,0000,0000,0000,,only about that. You also have to work really, really hard. Dialogue: 0,0:15:22.00,0:15:24.00,Default,,0000,0000,0000,,So, I always tell my students, Dialogue: 0,0:15:24.00,0:15:26.00,Default,,0000,0000,0000,,"Work smart, then work hard." Dialogue: 0,0:15:26.00,0:15:29.00,Default,,0000,0000,0000,,This picture in the back this is 3 a.m. in the morning. Dialogue: 0,0:15:29.00,0:15:31.00,Default,,0000,0000,0000,,I guarantee if you come to your lab at 3 - 4 am Dialogue: 0,0:15:31.00,0:15:33.00,Default,,0000,0000,0000,,we have students working there, Dialogue: 0,0:15:33.00,0:15:36.00,Default,,0000,0000,0000,,not because I tell them to, but because we are having too much fun. Dialogue: 0,0:15:36.00,0:15:38.00,Default,,0000,0000,0000,,Which leads to the last topic: Dialogue: 0,0:15:38.00,0:15:40.00,Default,,0000,0000,0000,,Do not forget to have fun. Dialogue: 0,0:15:40.00,0:15:43.00,Default,,0000,0000,0000,,That's really the secret of our success, we're having too much fun. Dialogue: 0,0:15:43.00,0:15:46.00,Default,,0000,0000,0000,,I truly believe that highest productivity comes when you're having fun, Dialogue: 0,0:15:46.00,0:15:48.00,Default,,0000,0000,0000,,and that's what we're doing. Dialogue: 0,0:15:48.00,0:15:50.00,Default,,0000,0000,0000,,There you go. Thank you so much. Dialogue: 0,0:15:50.00,0:15:55.00,Default,,0000,0000,0000,,(Applause)