WEBVTT

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视频来自---斯坦福大学工程技术

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专业开发中心

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好吧 我们开始

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欢迎参加机器人技术入门讲座-2008

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嗯 大家新年快乐

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在“机器人技术入门”课程中，我们会涉及

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一些机器人技术的基础--也就是说 我们会以

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多种数学模型来表达

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机器人系统

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其实你们刚刚在课堂里已经见过这些了

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你们刚才看到的是

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我们对一个仿人机器人系统的模拟

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以及这个模型的控制。

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如果你想要建立一个机器人模型

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来进行模拟，你必须建立一个

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这个系统的运动学表达

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还需要能够驱动这个系统，也就需要

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进入到电机层来确定使系统正确运动的转矩

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以及驱动力

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那么，咱们回到这个...

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我觉得这个很有趣

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嗯，这是一个你要去控制的机器人

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那么问题来了：我们应该用什么方法

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控制这条手臂从这个位置移动到另一个位置

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如果你考虑这个问题，会发现控制这个机器人

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有许多方法

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首先，你要知道当前机器人的位置，那么

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要知道位置你就需要一些传感器

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那么，要知道机器人的位置

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你会需要哪些传感器呢？

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有什么建议吗？

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GPS

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GPS？

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好吧

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那你用GPS能测量到几个参数呢？

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（我觉得可以啊）

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没问题没问题

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咱们可以试想一下

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几个参数--

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用GPS都能确定什么呢？

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（也许XY坐标吧）

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对，你能确定GPS本身定位的

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X和Y坐标坐标，对吗？

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但是，有多少个自由度--

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与多少个体在运动？

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比如我从这里移动到这里，多少个体在运动？

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你要在机器人上

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安装几台GPS呢？

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（呵呵哒）要是有47个自由度你就得装47个GPS

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那怎么行呢

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太昂贵了

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再来个建议

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我们需要点别的传感器

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（试试编码器）

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编码器！对啊，编码器

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那么编码器只测量

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一个自由度，只测量角度

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那我们有47个自由度

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需要多少编码器呢？

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四十七个

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这样可以提供相对位置，但是我们没法知道

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这个设备在这里或者那里，对吗？

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所以你需要一个GPS来定位某一个体

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然后基于这个体定位所有--

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还有没有其他--

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(Differential navigation 差动导航)

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对啊，在已知初始位置基础上进行积分或者使用--

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（视觉系统）

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视觉系统来定位至少一个或两个体

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然后你就知道机器人的位置，进而知道

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机器人运动的相对位置、速度

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所以一旦我们定位了机器人整体，我们就要找到一种方法

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来描述机器人各个体的位置。

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比如右手在哪里？

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左手在哪里？

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这里--你需要--

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这里你需要哪些信息？

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你需要了解所有刚体之间的位置关系

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然后一旦机器人站在那，你才能知道

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位置--比如手臂如何定位，手如何定位

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头如何定位

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然后需要一点来自于...学科的--

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（可以用陀螺仪）哦，我现在先不讨论传感器

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假设我们已经知道这些信息了，但我们需要确定一个....

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（一个模型）

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一个模型，运动学模型

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首先我们需要运动关系

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而且当系统运行起来，就会产生动力，对吗？

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所以你还得确定惯性力

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你需要知道--

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比如你移动右手，突然间整个系统都开始运动了

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对不对？

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这些相互连接的刚体之间是有

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耦合关系的

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所以我们要确定动力关系

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一旦你建立了这些模型，你就要考虑

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如何控制机器人

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那么我们如何像这样控制机器人呢？

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比如怎样把这个体移动到这里呢？

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我们怎么做呢？

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这只手--我想移动到这个位置

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您说什么？

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（前正向、逆向运动学）

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哦，非常好！

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那么，正向运动关系提供你手的

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位置

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逆向运动关系提供你--

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已知的你希望手所在的位置

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你需要

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你应该能够据此求得各个关节角

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是的

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如果你求出来了，你就应该知道每一个关节

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的目标运动角度

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然后再控制这些关节到达恰当的

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关节位置，然后手臂就移动到那个状态了

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关节位置，然后手臂就移动到那个状态了

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那我们能对这个机器人进行逆运动学求解吗？

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不太容易

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对一个机械臂这种6自由度的机器人来说

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就已经很难了，何况对一个有这么多自由度的机器人--

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那么假设我要把它移动到这个位置--这里

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这个位置

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有无数种轨迹可以达到这个位置

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这个问题就有无穷无尽种解

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何况，一个真人是不会

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以这种方式运动的。

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我是说，你要移动你的手臂时，你会去进行

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逆运动学运算吗？

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会吗？不会的

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所以，我们会看到不同的方式--

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哦，我会晚一点再讲解这一点，现在呢--

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不太清楚，是不是大家现在对机器人的基本概念已经

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有所了解了

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这张图片--是一个工作机器人在一个

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制造厂的隔绝环境内，正在工作

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捡拾，捡拾然后放置，在两个位置间运动

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与人类没有任何互动。但机器人技术，经过这么多年

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已经蜕变了

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今天，机器人已经有很多运用领域了

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从协助对人的外科手术

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到协助搬运重物

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到娱乐机器人，到各种机器人，各种不同

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领域

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而真正让人对机器人技术痴迷的是：

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机器人已经愈来愈接近人类--

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我们现在使用机器人来搬运，举升

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来工作，通过触觉交互技术来拓展人类

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的双手

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你可以触摸虚拟物品或者真实的物品

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我不确定大家是不是都知道触觉(haptics)

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触觉来自于“觉”--一个希腊词汇

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指的是

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触摸的感觉

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从触觉中--

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比如这里是

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外科医生的手，手术正在进行中

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医生在病人体外操作，而机器人在

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体内运行，不用开膛破肚，我们只需要一个

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小小的切口

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通过这个小口把机器人探入，在体内

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进行手术

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术后恢复效果惊人

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住了几天院，病人就

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出院了

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借助触觉技术或者借助一个上位机的远程手术

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让我们可以控制--

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比如这有一个“身手异处”的外科医生，正在手术

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或者水下操作，或者与一个真实家庭环境

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或者工厂环境的交互

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机器人技术还有一个地方特别有趣

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由于机器人技术着眼于铰接的体系统，现在我们就可以

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使用各种模型，各种与机器人有关的技术

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对人类进行建模，或者创造一种

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人类的数字模型，我们一会儿会看到，

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这种模型可以模仿或者受控来复现运动捕捉设备捕捉到的人类运动行为。

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这种模型可以模仿或者受控来复现运动捕捉设备捕捉到的人类运动行为。

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这种模型可以模仿或者受控来复现运动捕捉设备捕捉到的人类运动行为。

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另外，使用我们正在开发的与

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真是物理世界的交互，我们将能够使用触觉设备

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来探求那些我们在曾经不能触摸的

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物理世界--举个例子，我们自身不可能下潜到

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原子尺度，但我们可以模拟原子世界，再通过

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触觉设备我们就可以探索这个世界

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也许机器人技术最让人兴奋的是

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模仿机器人，看上去像人类，而且

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行为举止与生物，动物或者人类相似

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这是几年前，我在日本

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有人认识这个地方吗？

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（大阪）

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他说是大阪

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（横滨）

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很对，但是你去过，你这是骗红！

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（蛤......蛤）所以这就是横滨，在横滨，当时是

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Robodex

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Robodex集合了千千万万的

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机器人爱好者来领略机器人技术的最新成就

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这是几年以前

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你在这能看到ASIMO--ASIMO事实上是

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HONDA即P2和P3机器人之后推出的

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最新产品

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除此之外，你可以看到，嗯，几乎是所有机器人大鳄，

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在仿人机器人上的成就

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有没有人看过...

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这个？

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你们见过这个机器人吗？

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这是SONY的机器人--

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我记得我这好像有个视频

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看看能不能放

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SONY机器人在一个运动板上保持平衡

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这可不容易

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你可以想象这种实时控制要求有多高

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还有动力学建模和所有有关的方面

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还有动力学建模和所有有关的方面

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这是几年前完成的

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其实，我们几年前把这个机器人弄来斯坦福过

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他们在这做过一次表演，当时看到它做出的舞蹈表演

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和性能表现的确挺激动人心的

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还有许多名目繁多的机器人，尤其是在亚洲--

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在日本和韩国--有很多仿人机器人

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AIST制造了一系列机器人：HRP，HRP-1，和-2

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而且他们还在进一步给它增加更多功能

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而且他们还在进一步给它增加更多功能

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有一个有意思的表演

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我们在名古屋附近拍的，当时是爱知县世博会

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他们在那展出了好几个项目

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有些是一些研究机构和企业

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联合建造的

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这是个舞蹈机器人

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这是那个HRP机器人

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HRP的步行演示

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步行功能已经被人们很好的掌握了

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但问题是：你怎样移动到一个位置

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取得一个物体并且和这个真实物的理世界进行互动

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这更有挑战性

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你可以看到这个滑动和触摸功能还不是很完备

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但这已经给我们指出了一个未来的研究方向

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这是一个有趣的设备

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来自早稻田大学

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他有更多的自由度--

00:14:11.340 --> 00:14:18.300
那么，另一个问题来了

00:14:18.320 --> 00:14:22.210
你在髋关节上有一个附加的自由度

00:14:22.230 --> 00:14:26.910
这样运动起来就更像人类了

00:14:26.930 --> 00:14:29.219
咱们看一个我最喜欢的

00:14:29.240 --> 00:14:36.700
这是一个仿人的，作动器也是仿人的

00:14:36.720 --> 00:14:41.240
使用的是人造肌肉来发起运动

00:14:41.260 --> 00:14:44.220
但是很显然，人造肌肉还有很多问题

00:14:44.240 --> 00:14:48.250
因为它的动态响应还非常滞后，而且所提供的动力也还不够

00:14:48.270 --> 00:14:51.699
因为它的动态响应还非常滞后，而且所提供的动力也还不够

00:14:51.720 --> 00:14:54.050
但是我们以后也会谈到这个问题

00:14:54.070 --> 00:15:24.070
那好，谁跟我说说你们对这个有什么感觉

00:15:25.010 --> 00:15:27.220
谁想说说？

00:15:27.240 --> 00:15:29.420
你怎么想？

00:15:29.440 --> 00:15:32.440
我们需要机器人完美复刻人类的外貌吗？

00:15:32.010 --> 00:15:33.010
我们需要机器人完美复刻人类的外貌吗？

00:15:33.010 --> 00:15:38.960
还是说我们只需要针对某些功能开发机器人？

00:15:38.980 --> 00:15:43.450
比如我们是伐木工，我们是不是只需要开发一个伐木机器人呢？

00:15:43.470 --> 00:15:44.840
比如我们是伐木工，我们是不是只需要开发一个伐木机器人呢？

00:15:44.860 --> 00:15:48.670
如果机器人要在人类社会中工作，那机器人是不是只需要

00:15:48.690 --> 00:15:53.140
两只手臂、移动能力、视觉能力

00:15:53.160 --> 00:15:56.240
两只手臂、移动能力、视觉能力

00:15:56.260 --> 00:16:00.740
思考一下这些问题挺有意思的：

00:16:00.760 --> 00:16:07.290
我们到底是需要 机器 “人”？ 还是 “机器” 人

00:16:07.310 --> 00:16:12.209
我们需要的是与所处环境进行最有效交互的“机器”吗？

00:16:12.230 --> 00:16:15.100
我们需要的是与所处环境进行最有效交互的“机器”吗？

00:16:15.120 --> 00:16:16.370
最后一个，我觉得是--

00:16:15.570 --> 00:16:25.950
是的，这是一个非常有趣的例子

00:16:25.970 --> 00:16:30.150
借助外骨骼，我们能多大程度上扩展人类的能力

00:16:30.170 --> 00:16:33.939
你穿戴好这个，你就变成了超人了

00:16:33.960 --> 00:16:37.390
你能搬很重的东西

00:16:37.410 --> 00:16:43.100
他们在这展示的是，我相信有60公斤

00:16:43.120 --> 00:16:47.030
人根本感觉不到任何重量，因为载荷都被外骨骼系统承担了

00:16:47.050 --> 00:16:52.430
人根本感觉不到任何重量，因为载荷都被外骨骼系统承担了

00:16:52.450 --> 00:16:56.300
还有一个有意思的视频，来自东京工大

00:16:56.320 --> 00:17:02.500
一款游动机器人

00:17:02.520 --> 00:17:05.660
能肯定的是这个机器人是防水的

00:17:05.680 --> 00:17:15.069
总而言之，机器人技术越来越向仿人方向发展

00:17:15.089 --> 00:17:16.230
总而言之，机器人技术越来越向仿人方向发展

00:17:16.250 --> 00:17:21.400
我们也看到了，机器人也渐渐走近人们的生活

00:17:21.420 --> 00:17:27.760
我们

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