My seven species of robot | Dennis Hong | TEDxNASA

At TEDxNASA, Dennis Hong introduces seven award-winning, all-terrain robots - like the humanoid, soccer-playing DARwIn and the cliff-gripping CLIMBeR - all built by his team at RoMeLa, Virginia Tech. Watch to the end to hear the five creative secrets to his lab's incredible technical success.

Thanks for having me.

We have too many really exciting
robotics works that I want to show you

but we only have 18 minutes,

so I really had a hard time
trying to cut down the slides.

But let's see how it goes,
we have 18 minutes

and an apology in advance,
I'm probably going to speak really fast.

So, the first robot I'll talk about
is called STriDER.

It stands for Self-excited
Tripedal Dynamic Experimental Robot.

It's a robot that has three legs,

which is inspired by nature.

But have you seen anything in nature,

an animal that has three legs?

Probably not.

So, why do I call this
a biologically inspired robot?

How would it work?

But before that,
let's look at pop culture.

So, you know H.G. Wells'
"War of the Worlds," novel and movie.

And what you see over here

is a very popular video game,

and in this fiction they describe
these alien creatures

and robots that have three legs
that terrorize Earth.

But my robot, STriDER,
does not move like this.

So, how does it work?

So, this is an actual
dynamic simulation animation.

I'm just going to show you
how the robot works.

So when I go to robotics conferences,

I show this video to some of my colleagues

and everybody goes, wow, this is cool.

So when I click this,
it's going to show an animation,

so everybody say "Ooh" and "Aah".

Ooh.

Aah. Isn't that cool?

It flips its body 180 degrees

and it swings its leg between
the two legs and catches the fall.

So, that's how it walks.

If you think about it, it looks
very complicated, almost organic.

But why are we trying to do this?

How is this biologically inspired?

Let me talk about it a little bit.

So, when you look at us
human beings, bipedal walking,

what you're doing is
you're not really using a muscle

to lift your leg and walk like a robot.
Right?

What you're doing is you really swing
your leg and catch the fall,

stand up again,
swing your leg and catch the fall.

You're using your built-in dynamics,
the physics of your body,

just like a pendulum.

We call that the concept
of passive dynamic locomotion.

What you're doing is, when you stand up,

potential energy to kinetic energy,

potential energy to kinetic energy.

It's a constantly falling process.

So, even though there is nothing
in nature that looks like this,

really, we were inspired by biology

and applying the principles of walking
to this robot.

Thus it's a biologically inspired robot.

What you see over here,
this is what we want to do next.

We want to fold up the legs
and shoot it up for long-range motion.

And it deploys legs -
it looks almost like "Star Wars" -

when it lands, it absorbs
the shock and starts walking.

What you see over here, this yellow thing,
this is not a death ray. (Laughter)

This is just to show you
that if you have cameras

or different types of sensors -

because it is tall, it's 1.8 meters tall -

you can see over obstacles like bushes
and those kinds of things.

So we have two prototypes.

The first version, in the back,
that's STriDER I.

One of the problems
that we had with STriDER I -

The one in front, the smaller,
is STriDER II.

The problem that we had
with STriDER I is

it was just too heavy in the body.

We had so many motors,
you know, aligning the joints,

and those kinds of things.

So, we decided to synthesize
a mechanical mechanism

so we could get rid of all the motors,
and with a single motor

we can coordinate all the motions.

It's a mechanical solution to a problem,
instead of using mechatronics.

So, with this now the top body
is light enough.

So, it's walking in our lab;
this was the very first successful step.

It's still not perfected -
its coffee falls down -

so we still have a lot of work to do.

The second robot I want to talk about
is called IMPASS.

It stands for

Intelligent Mobility Platform
with Actuated Spoke System.

So, it's a wheel-leg hybrid robot.

So, think of a rimless wheel

or a spoke wheel,

but the spokes individually
move in and out of the hub;

so, it's a wheel-leg hybrid.

We are literally re-inventing
the wheel here.

Let me demonstrate how it works.

So, in this video we're using an approach

called the reactive approach.

Just simply using the tactile sensors
on the feet,

it's trying to walk over
a changing terrain,

a soft terrain
where it pushes down and changes.

And just by the tactile information,

it successfully crosses over
these type of terrain.

But, when it encounters
a very extreme terrain,

in this case, this obstacle
is more than three times

the height of the robot,

Then it switches to a deliberate mode,

where it uses a laser range finder,

and camera systems,
to identify the obstacle and the size,

and it plans, carefully plans
the motion of the spokes

and coordinates it
so that it can show this

kind of very very impressive mobility.

You probably haven't seen
anything like this out there.

This is a very high mobility robot

that we developed called IMPASS.

When you drive your car,
when you steer it,

you use a method called
Ackermann steering,

the front wheels rotate like this.

But most of the small wheeled robots
use a method called differential steering

where the left and right wheel
turn in opposite directions.

For IMPASS, we can do many,
many different types of motion.

For example, in this case, even though
the left and right wheel is connected

with a single axle rotating
at the same angle of velocity,

we just simply change
the length of the spoke.

It affects the diameter and then
can turn to the left and to the right.

These are just some examples

of the neat things
that we can do with IMPASS.

This robot is called CLIMBeR:

Cable-suspended Limbed Intelligent
Matching Behavior Robot.

So, I've been talking to a lot
of NASA JPL scientists -

at JPL they are famous
for the Mars rovers -

and the scientists,
geologists always tell me

that the real interesting science,

the science-rich sites,
are always at the cliffs.

But the current rovers cannot get there.

So, inspired by that
we wanted to build a robot

that can climb a structured
cliff environment.

So, this is CLIMBeR.

So, what it does, it has three legs.
It's difficult to see,

but it has a winch
and a cable at the top -

and it tries to figure out
the best place to put its foot.

And then once it figures that out

in real time, it calculates
the force distribution:

how much force it needs
to exert to the surface

so it doesn't tip and doesn't slip.

Once it stabilizes that, it lifts a foot,

and then with the winch
it can climb up these kinds of thing.

Also for search and rescue
applications as well.

This robot is called MARS:
Multi-Appendage Robotic System.

Five years ago I actually
worked at NASA JPL

during the summer as a faculty fellow.

And they already had
a six legged robot called LEMUR.

So, this is actually based on that.

So, it's a hexapod robot.

We developed our adaptive gait planner.

We actually have a very interesting
payload on there.

The students like to have fun.

It shows very interesting mobility,

and here you can see that it's walking
over a structured terrain.

It's little bit difficult to see,
in the videos over here,

it's trying to walk
on the coastal terrain, sandy area,

but depending on the moisture content
or the grain size of the sand

the foot's soil sinkage model changes.

So, it tries to adapt its gait

to successfully cross over
these kind of things.

It also does some fun stuff,
as you can imagine.

We get so many visitors visiting our lab.

So, when the visitors come,
MARS walks up to the computer,

starts typing "Hello, my name is MARS.

Welcome to RoMeLa,

the Robotics Mechanisms Laboratory
at Virginia Tech."

This robot is an amoeba robot.

Now, we don't have enough time
to go into technical details,

I'll just show you some
of the experiments.

So, this is some of the early
feasibility experiments.

We store potential energy
to the elastic skin to make it move.

Or use active tension cords
to make it move forward and backward.

We've also been working with scientists
and engineers from UPenn

to come up with a chemically
actuated version of this Amoeba robot.

We do something to something,

and just like magic, it moves. The blob.

It's called ChIMERA.

This robot is a very recent project.

It's called RAPHaEL.

Robotic Air Powered Hand
with Elastic Ligaments.

There are a lot of really neat, very good
robotic hands out there in the market.

The problem is they're just too expensive,
tens of thousands of dollars.

So, for prosthesis applications
it's probably not too practical,

because it's not affordable.

We wanted to go tackle this problem
in a very different direction.

Instead of using electrical motors,
electromechanical actuators,

we're using compressed air.

We developed these
novel actuators for joints.

It is compliant.
You can actually change the force,

simply just changing the air pressure.

And it can actually crush
an empty soda can.

It can pick up very delicate objects
like a raw egg,

or in this case, a lightbulb.

The best part, it took only $200 dollars
to make the first prototype.

This robot is actually
a family of snake robots

that we call HyDRAS,

Hyper Degrees-of-freedom
Robotic Articulated Serpentine.

The one that you see over here -
you can see it outdoors in the lobby

we actually have a demo,
please stop by during the break time.

This is a robot that can climb structures.

This is a HyDRAS's arm.

It's a 12 degrees of freedom robotic arm.

But the cool part is the user interface.

The cable over there,
that's an optical fiber.

And this student,
probably the first time using it,

but she can articulate
it many different ways.

So, for example in Iraq,
you know, the war zone,

there is roadside bombs.

Currently you send these remotely
controlled vehicles that are armed.

It takes really a lot of time
and it's expensive

to train the operator
to operate this complex arm.

In this case it's very intuitive;

this student, probably
his first time using it,

doing very complex manipulation tasks,

picking up objects and doing manipulation,
just like that.

Very intuitive.

Now, this robot is currently
our star robot.

We actually have a fan club
for the robot, DARwIn:

Dynamic Anthropomorphic Robot
with Intelligence.

As you know, we are very interested
in human walking,

so we decided to build
a small humanoid robot.

This was in 2004; at that time,

this was something really revolutionary.

This was more of a feasibility study:

What kind of motors should we use?

Is it even possible?
What kinds of controls should we do?

So, this does not have any sensors.

So, it's an open loop control.

For those who probably know,
if you don't have any sensors

and there are any disturbances,
you know what happens.

(Laughter)

So, based on that success,
the following year

we did the proper mechanical design

starting from kinematics.

And thus, DARwIn I was born in 2005.

It stands up, it walks - very impressive.

However, still, as you can see,
it has a cord, umbilical cord.

So, we're still using
an external power source

and external computation.

So, in 2006, now it's really
time to have fun.

Let's give it intelligence.

We give it all the computing power
it needs:

a 1.5 gigahertz Pentium M chip,

two FireWire cameras,
rate gyros, accelerometers,

four force sensors on the foot,
lithium polymer batteries.

And now DARwIn II
is completely autonomous.

It is not remote controlled.

There are no tethers. It looks around,
searches for the ball,

looks around, searches for the ball,
and it tries to play a game of soccer,

autonomously: artificial intelligence.

Let's see how it does.
This was our very first trial, and...

(Video): Spectators: Goal!

Dennis Hong: So, there is actually
a competition called RoboCup.

I don't know how many of you
have heard about RoboCup.

It's an international autonomous
robot soccer competition.

And the goal of RoboCup,
the actual goal is,

by the year 2050

we want to have full size,
autonomous humanoid robots

play soccer against
the human World Cup champions

and win.

It's a true actual goal.
It's a very ambitious goal,

but we truly believe that we can do it.

So, this is last year in China.

We were the very first team
in the United States that qualified

in the humanoid RoboCup competition.

This is this year in Austria.

You're going to see the action,
three against three,

completely autonomous.

There you go. Yes!

The robots track and they

team play amongst themselves.

It's very impressive.
It's really a research event

packaged in a more exciting
competition event.

What you see over here,
this is the beautiful

Louis Vuitton Cup trophy.

So, this is for the best humanoid,

and we would like to bring this
for the very first time,

to the United States next year,
so wish us luck.

(Applause)

Thank you.

DARwIn also has a lot of other talents.

Last year it actually conducted
the Roanoke Symphony Orchestra

for the holiday concert.

This is the next generation robot,
DARwIn IV,

but smarter, faster, stronger.

And it's trying to show off its ability:

"I'm macho, I'm strong.

I can also do some Jackie Chan-motion,

martial art movements."

(Laughter)

And it walks away.
So, this is DARwIn IV.

And again, you'll be able
to see it in the lobby.

We truly believe this is going to be
the very first

running humanoid robot
in the United States, so, stay tuned.

All right. So I showed you some
of our exciting robots at work.

So, what is the secret of our success?

Where do we come up with these ideas?

How do we develop these kinds of ideas?

We win awards after awards,
year after year.

We're actually running out of wall space
to put these plaques,

they're staring to accumulate on the floor
hopefully we didn't loose any.

These are just the awards
that we won in 2007 fall

from robotics competitions
and those kinds of things.

So, really, we have five secrets.

First is: Where do we get inspiration?

Where do we get this spark of imagination?

This is a true story, my personal story.

At night when I go to bed, 3 - 4 a.m.

I lie down, close my eyes,
and I see these lines and circles

and different shapes floating around.

And they assemble, and they form
these kinds of mechanisms.

And then I think, "Ah this is cool."

So, right next to my bed
I keep a notebook,

a journal, with a special pen
that has a light on it, LED light,

because I don't want to turn on
the light and wake up my wife.

So, I see this, scribble everything down,
draw things, and I go to bed.

Every day in the morning,

the first thing I do
before my first cup of coffee,

before I brush my teeth,
I open my notebook.

Many times it's empty,

sometimes I have something there -
sometimes it's junk

but most of the time
I can't even read my handwriting.

And so, 4 in the morning,
what do you expect, right?

So, I need to decipher what I wrote.

But sometimes I see
this ingenious idea in there,

and I have this eureka moment.

I directly run to my home office,
sit at my computer,

I type in the ideas, I sketch things out

and I keep a database of ideas.

So, when we have these
calls for proposals,

I try to find a match between
my potential ideas and the problem.

If there is a match
we write a research proposal,

get the research funding in, and that's
how we start our research programs.

But just a spark of imagination
is not good enough.

How do we develop these kinds of ideas?

At our lab RoMeLa, the Robotics
and Mechanisms Laboratory,

we have these fantastic
brainstorming sessions.

So, we gather around,
we discuss about problems

and solutions to the problems
and talk about it.

But before we start
we set this golden rule.

The rule is:

Nobody criticizes anybody's ideas.

Nobody criticizes any opinion.

This is important, because many times
students, they fear

or they feel uncomfortable
how others might think

about their opinions and thoughts.

So, once you do this, it is amazing

how the students open up.

They have these wacky, cool,
crazy, brilliant ideas,

and the whole room is just electrified
with creative energy.

And this is how we develop our ideas.

Well, we're running out of time.

One more thing I want to talk about is,

you know, just a spark of idea
and development is not good enough.

There was a great TED moment,

I think it was Sir Ken Robinson, was it?

He gave a talk about how education

and school kills creativity.

Well, actually, there are
two sides to the story.

So, there is only so much one can do

with just ingenious ideas

and creativity and good
engineering intuition.

If you want to go beyond a tinkering,

if you want to go beyond
a hobby of robotics

and really tackle the grand challenges
of robotics

through rigorous research
we need more than that.

This is where school comes in.

Batman, fighting against bad guys,

he has his utility belt,
he has his grappling hook,

he has all different kinds of gadgets.

For us roboticists,
engineers and scientists,

these tools, these are the courses
and classes you take in class.

Math, differential equations.

I have linear algebra, science, physics,

even nowadays, chemistry
and biology, as you've seen.

These are all the tools that we need.

So, the more tools you have, for Batman,

more effective at fighting the bad guys,

for us, more tools to attack
these kinds of big problems.

So, education is very important.

Also, it's not about that,
only about that.

You also have to work really, really hard.

So, I always tell my students,

"Work smart, then work hard."

This picture in the back
this is 3 in the morning.

I guarantee if you come
to your lab at 3 - 4 am

we have students working there,

not because I tell them to,
but because we are having too much fun.

Which leads to the last topic:

Do not forget to have fun.

That's really the secret of our success,
we're having too much fun.

I truly believe that highest productivity
comes when you're having fun,

and that's what we're doing.

Again, we're running out of time.

Hopefully I'll have another chance
to talk to you about and introduce

some other exciting robotics projects
that we didn't have time to talk about.

We have a fully autonomous vehicle

that can drive into urban environments.

We won a half a million dollars
in the DARPA Urban Challenge.

We also have the world's very first

vehicle that can be driven by the blind.

We call it the Blind Driver Challenge,
very exciting.

And many, many other robotics projects
I want to talk about.

There you go.
Go out there, read a great book.

Get inspired, invent, work really hard.

Stay in school.

Come up with cool ideas,
I'll be happy to learn more about [them].

Shoot me an email, let's talk about it.

There you go. Thank you so much.

(Applause)