Dennis Hong和他的機器人軍團
在好萊塢電影里，機器人往往力大無窮，能像人一樣思考、交流、還能變形，雖然就目前技術而言實現這些幻想還差得遠，但科學家們一直在努力。比如丹尼斯·洪（Dennis Hong）——
丹尼斯·洪是美國弗吉尼亞理工大學的機械工程教授，他不僅是個頂尖的科學家，也是美食家、廚師、魔術師。
他的實驗室名叫RoMeLa（Robotics and Mechanisms Laboratory），專註於機器人研究，並贏得了諸多榮譽：DARwIn隊是2007年機器人足球世界盃上唯一一支有資格進入類人組比賽的美國隊；Victor Tango 獲得了DARPA Urban Challenge（無人駕駛汽車比賽）的第三名，獲得50萬美金的獎金。
在他的TED演講中，丹尼斯·洪逐一介紹了他的團隊研發的各種機器人：
有像極了科幻片怪物的三腿機器人STriDER、用輻條行進的IMPASS、能攀岩的CLIMBeR、會在鍵盤上打字的蜘蛛機器人MARS、能像人一樣踢球的DARwIn，還有變形蟲機器人ChIMERA、蛇形機器人HyDRAS等等。
為什麼丹尼斯·洪能做出那麼多超酷機器人？在演講的最後，他總結了5個秘決：
第一，建立自己的點子庫。創新是在大量積累的基礎上產生的。
第二，頭腦風暴。在頭腦風暴中，不要批評任何人的任何觀點。當一個人的想法當眾被否定，下次他再有什麼想法，就很難鼓起勇氣講出來，一個絕妙的想法可能就這樣被埋沒了。
第三，教育。就像蝙蝠俠有很多武器一樣，科學家的武器就是微積分、牛頓定律等知識。
第四，聰明工作、努力工作。做自己感興趣的事，並把它做好。學生們常在RoMeLa實驗室里工作到凌晨，不是別的，正是興趣與熱情在不斷驅動他們。
第五，玩得開心。人有多大樂，地有多大產。
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丹尼斯·洪的 TED 演講：我和我的N個機器人
— 中英字幕圖文並茂版 —
第一個要介紹的機器人叫STriDER（Stride大跨步，Strider邁大步者）。 全稱是自激式三足動態實驗機器人 (Self-excited Tripedal Dynamic Experimental Robot)。 這種機器人受自然界的啟發有三條腿。 不過你在自然界中見過三條腿的動物嗎？ 應該沒有。 那我們為什麼要稱其為仿生機器人呢？運作原理是什麼呢？
So the first robot to 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?
說之前，先看看當下流行文化。 你應該知道赫伯特·喬治·威爾斯（H.G. Wells）的小說《世界大戰》，以及由此改編的電影。 您現在看到的是一款流行視頻遊戲。 在小說里，威脅地球的外星生物被描述成三足機器人。不過我的機器人，STriDER，不是這樣移動的。
But before that, let s look at pop culture. So, you know H.G. Wells s "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.
這是一段真實的動態模擬動畫。 我要展示的是機器人是如何移動行走的。 空中轉體180度。 其中一條腿，在另兩條腿中間盪鞦韆。 這是他的行走方式。不過研究一下我們人類的兩足行走， 人類不是用肌肉提起一條腿邁出去，像機器人那樣。對吧？ 我們實際上是把一條腿盪出去，然後落地， 站穩，然後再盪腿...落地...。 使用您的身體內置動力，身體動力就像一個鐘擺。 我們稱之為被動動力運動概念。 身體直立情況下，您所做的就是把勢能轉變為動能。 這是一個不斷下落的過程。 所以，雖然自然界中沒有三足動物， 實際上我們還是受到了生物的啟發把這套原理運用於這種機器人，所以它是仿生機器人。
This is an actual dynamic simulation animation. I m going to show you how the robot works. 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. But when you look at us human beings, bipedal walking, what you re doing is, you re not really using muscle to lift your leg and walk like a robot. What you re doing is, you 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 re inspired by biology and applying the principles of walking to this robot. Thus, it s a biologically inspired robot.
您這裡所見的就是我們下一步的目標。 我們要讓機器人把腿像彈簧一樣摺疊起來，然後彈射出去，做長距離運動。 然後展開腿，就像星球大戰一樣。 當它落地，機器人的三條腿會吸收落地震動，然後開始步行。
What you see 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" -- so when it lands, it absorbs the shock and starts walking.
這裡面黃色的區域，不是死光。 這演示的是裝有一部攝像機或者其他類型的感測器， 因為機器人個高，有1.8米高， 可以從灌木叢之類的障礙物上方露出頭觀察。這演示的是裝有一部攝像機或者其他類型的感測器， 因為機器人個高，有1.8米高， 可以從灌木叢之類的障礙物上方露出頭觀察。
What you see over here, this yellow thing, this is not a death ray.This is just to show you that if you have cameras or different types of sensors, because it s 1.8 meters tall, you can see over obstacles like bushes and those kinds of things.
我們有兩種型號的原型機。 第一個型號，在後面，那是STriDER I型。 前面那個，小一點兒的，是STriDER II型。 STriDER I型遇到的問題是機器人太重了。我們裝了太多的馬達， 諸如調整關節之類的東西。
So we have two prototypes. The first version, in the back, that s STriDER I. The one in front, the smaller, is STriDER II. The problem we had with STriDER I is, it was just too heavy in the body.We had so many motors aligning the joints and those kinds of things.
所以，我們決定綜合成一個機械機構， 我們就可以用一部馬達，代替所有的馬達，我們就可以協調所有的動作。 這是用機械解決辦法，代替機電一體化。 所以現在機器人上部機體就夠輕巧了，可以在實驗室內走路。 這是向成功邁出第一步。 還不完美。這個實驗機器人摔倒了， 所以後面還有我們忙的。
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 lighted up; 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.
第二個要介紹的機器人縮寫是IMPASS。 它帶有驅動輻條系統的智能移動平台（Intelligent Mobility Platform with Actuated Spoke System）。 它是一種「輪-腿「混合機器人。 無框輪， 或者叫輻條輪。 每個輻條都可以縮進縮出輪轂。 所以它是」輪腿」混合機器人。 我們又重新發明了一種輪子。 讓我演示一下工作原理。 這段視頻中我們用了一種方法被稱為響應式方法。 只在利用足部的觸覺感測器， 這機器人在崎嶇不平的地形行走， 地面柔軟，隨著它的下壓而改變。 僅依靠足部感測器的信息， 它成功的跨越了這些地形。
The second robot I want to talk about is called IMPASS. It stands for Intelligent Mobility Platform with Actuated Spoke System. 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 re literally reinventing 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 types of terrains.
不過，它遇到極端地形時， 如視頻中顯示的，一個三倍於機器人高度的障礙物， 它會切換到謹慎模式， 這裡機器人利用激光測距儀， 和攝像系統，來找出障礙和測量大小， 作出相應的對策，仔細的策劃輻條的動作， 同時協調好各部分動作，這樣顯示出 令人驚訝的機動性。 你可能從來沒有見過這樣的機器人。 這是一部機動性很高的機器人 這就是我們開發的，叫做IMPASS的機器人。 很酷吧？
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 carefully plans the motion of the spokes and coordinates it so it can show this 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. Ah, isn t that cool?
您開車的時候， 轉動方向盤，這種方式叫阿克曼轉向。 前輪像這樣轉動。 對於那些小型輪式機器人， 它們一般採用差速轉向， 也就是左輪和右輪向相反方向轉動。 對於IMPASS機器人，我們可以採用不同方式的轉向運動。 如視頻中演示的那樣，它的左右輪連接在一個軸上， 以同樣的轉速轉動。 不同的是，我們依靠調解輻條的長度實現轉向。 輻條長度的變化改變了輻條輪的直徑大小，以此實現左右轉彎。 這些只是一些IMPASS可以做的巧妙動作的事例。
When you drive your car, when you steer your car, you use a method called Ackermann steering. The front wheels rotate like this. For most small-wheeled robots, they use a method called differential steering where the left and right wheel turn the opposite direction. For IMPASS, we can do many, many different types of motion. For example, in this case, even though the left and right wheels are connected with a single axle rotating at the same angle of velocity, we simply change the length of the spoke, it affects the diameter, then can turn to the left and to the right. These are just some examples of the neat things we can do with IMPASS.
這個機器人叫CLIMBeR(攀登者)， 全稱是：鋼纜吊肢智能匹配行為機器人(Cable-suspended Limbed Intelligent Matching Behavior Robot)。 我曾和許多NASA噴氣推進實驗室的科學家們聊過，在噴氣推進實驗室，最出名的就是火星車。 科學家們和地質學家們經常告訴我， 真正有趣的科學、 富含科學知識的地點就是在懸崖峭壁上。 不過目前火星車還探測不了峭壁。 受此啟發，我們要建造一台攀登峭壁的機器人。
This robot is called CLIMBeR: Cable-suspended Limbed Intelligent Matching Behavior Robot.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.
那就是CLIMBeR機器人。 它有三條腿。可能很難看到，但它頂部有一個絞盤，一條鋼纜。 它正在測算最好的立足點。 一旦測算好， 它會實時計算出力的分布。 計算出需要施加多大的力， 確保不翻下來，不打滑。 一旦穩定下來，抬起一條腿， 然後利用絞盤，可以向上爬一點點。 也可以應用在搜索和救援工作上。
So this is CLIMBeR. It has three legs. It s probably difficult to see, but it has a winch and a cable at the top. 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 cliffs. Also for search and rescue applications as well.
五年前，我夏季在NASA噴氣推進實驗室做教員研究員。 他們有個六足機器人，稱作LEMUR。基於此我們開發一台機器人，稱作MARS(火星) 多附體機器人系統（Multi-Appendage Robotic System）。它是一種六足機器人。 我們開發了自適應步態規劃軟體。 我們放了一個十分有趣的有效載荷。 學生們喜歡有趣的機器人。您可以看到機器人在不規則地形上行走。
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. This robot is called MARS: Multi-Appendage Robotic System. 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. And here you can see that it s walking over unstructured terrain.
它試圖在粗糙地形上行走，沙地上，取決於水分含量或沙粒大小的腳下的泥土下沉模式變化。 機器人自適應的調整步態以便成功翻越這類地形。 除此之外，它還可以做出一些搞笑的事。 我們的實驗室有很多參觀者。 有參觀者來的時候，MARS機器人會走到計算機旁邊， 並輸入「你好！我叫MARS。」 歡迎來到RoMeLa， 弗吉尼亞理工大學的「機器人技術與機械實驗室（RoMeLa）。
It s trying to walk on the coastal terrain, a 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 gaitto 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."
這個機器人是一個變形蟲機器人。 我們沒有時間講述技術細節， 我將展示些實驗。 這是一些早期的可行性實驗。 彈性表皮上存有勢能，使之移動。 利用一個有張力繩子使之前進和後退。
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. These are 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.
它被稱為嵌合體(ChIMERA)。 我們還和來自賓州大學的科學家和工程師合作， 開發出化學驅動版本的變形蟲機器人。我們鼓搗一下， 然後，就像變魔術，它移動了。就像科幻電影The Blob。
It s called ChIMERA. We also have been working with some 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."
這個機器人是最近的項目。它叫RAPHaEL 帶有彈性韌帶的氣壓機器手臂 (Robotic Air Powered Hand with Elastic Ligaments)。 市面上有不少不錯的機器手臂。 不過動輒就要幾萬美元太貴了。對於假肢應用可能不太現實， 因為太貴了。 我們想到一個非常不同的方法去解決這個問題。 不使用電動馬達，機電執行器， 而是用壓縮空氣作動力。 我們開發這些新型驅動器的關節。 它是兼容的。
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 on 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 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 the joints, so it s compliant.
你其實可以通過調節氣壓就很容易地來改變驅動力的大小。 它的力氣可以壓扁一個空可樂罐。 也可以握住易碎的物體，如生雞蛋 或如這展示的電燈泡。 最棒的是，這個原型機僅花費200美元。
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.
這部機器人實際上是一系列蛇形機器人， 我們稱之為HyDRAS， 高自由度鉸接式蛇形機器人（Hyper Degrees-of-freedom Robotic Articulated Serpentine）。 這是一個可以攀爬的機器人。這是一個HyDRAS型機器臂。 它有12個自由度的機器臂。 不過最酷的是用戶介面。 這些電纜是光纖。
This robot is actually a family of snake robots that we call HyDRAS, Hyper Degrees-of-freedom Robotic Articulated Serpentine. 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.
這名學生，可能是第一次使用， 她可以用很多不同的方法操作。 例如在伊拉克，在戰區， 常有路邊炸彈。 目前，派出的是遙控武裝車輛。 它需要很多時間和花費 來培訓控制這複雜武裝車輛的操作員。 在這種情況下，這個機器手臂很直觀。
This student, it s probably her first time using it, but she can articulate it in many different ways. So, for example, in Iraq, the war zone, there are 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.
這名學生可能是第一次使用，就能完成複雜的操作任務， 拾取物體，操作， 就像這樣，非常直觀。
this student, probably his first time using it, is doing very complex manipulation tasks, picking up objects and doing manipulation, just like that. Very intuitive.
這部機器人，是我們的明星機器人。 我們有個DARwIn機器人興趣小組， 智能動力人形機器人(Dynamic Anthropomorphic Robot With Intelligence)。 我們對人形機器人， 人類行走機器人，非常感興趣， 我們決定造一個小型人形機器人。
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 re very interested in human walking, so we decided to build a small humanoid robot.
在2004年，那時 這是革命性的東西。 更多的是可行性研究， 應該選用什麼樣的馬達？ 可行嗎？我們做什麼樣的控制？ 這個機器人沒有感測器。 它是開環控制。 如您所知，如果沒有控制器 稍有擾動就會出問題。
This was in 2004; at that time,this was something really, 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? 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 s any disturbances, you know what happens.
基於此，次年， 我們做了正確的機械設計， 從運動學開始。 2005年，DARwIn I型誕生。 站立，行走，令人印象深刻。 然而，如你所見 它是有線的，還有一條臍帶。我們還是用的外部電源，以及外部運算。
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, an umbilical cord. So we re still using an external power source and external computation.
2006年，正是時候可以找樂子了。 給他智能。我們給它所需的計算能力， 1.5GHz的Pentium M處理器， 兩個火線（IEEE1394）攝像頭,8個陀螺儀，一個加速度計， 足部四個力矩感測器，鋰電池。 DARwIn II是全部自主式的。 不用遠程遙控。 沒有外接連線。它查看四周，尋找球， 再查看四周，尋找球，試著踢足球， 自主式的踢球，實現人工智慧。 看看它的能耐。這是我們第一次測試……然後就……進球了！！！
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 forced sensors on the foot, lithium polymer batteries -- and now DARwIn II is completely autonomous. It is not remote controlled. There s 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 ... Goal！！！
有個競賽叫機器人世界盃賽。 我不知道你們知不知道機器人世界盃賽。 機器人世界盃賽是自主式機器人足球賽事。 機器人世界盃賽的目標是， 到2050年，我們有人類大小的自主式人形機器人與人類的世界盃冠軍隊進行足球比賽，而且要贏！這是個非常實際的目標、非常有野心的目標， 但是我們認為我們可以做到。
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 actual goal of RoboCup 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 we can do it.
去年在中國。 我們是美國在人形機器人比賽獲得比賽資格的第一個團隊。 今年在奧地利舉行。三對三完全自主的機器人。不錯。很好！ 機器人跟蹤，踢球， 組隊對抗。令人印象深刻。這實際上是裹著競賽外衣的科研工作。
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 is 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.
這張照片是漂亮的獎盃（Louis Vuitton Cup路易威登提供的獎盃）。 這是頒發給最佳人形機器人的， 明年我們希望可以首次把它帶回美國， 希望我們走運！
What you see here is the beautiful Louis Vuitton Cup trophy. This is for the best humanoid. We d like to bring this, for the first time, to the United States next year, so wish us luck.
DARwIn還有其他的才能。 去年假日音樂會上，它實際指揮羅阿諾克交響樂團。
DARwIn also has a lot of other talents. Last year, it actually conducted the Roanoke Symphony Orchestra for the holiday concert.
這是下一代，DARwIn四型， 更小，更快，更有力。 它正在展示它的能力。 「我是男子漢，我很結實。」，「我可以做像成龍那樣的武術動作。」然後它就走開了。這是DARwIn四型， 你可以在大廳里看到。 我們確信這將是第一個在美國運行的人形機器人。因此，敬請關注。
This is the next generation robot, DARwIn IV, much 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." And it walks away. So this is DARwIn IV. Again, you ll be able to see it in the lobby. We truly believe this will be the very first running humanoid robot in the United States. So stay tuned.
好了，我展示給大家我們有趣的機器人。那麼我們成功的秘訣是什麼呢？ 我們從哪裡想出這些點子呢？我們如何發展這些點子呢？ 我們有無人駕駛車可以穿行在城市、我們贏了DARPA挑戰賽的50萬美元。我們有世界上第一輛盲人駕駛汽車，我們稱其為，盲人駕駛員挑戰， 還有許多其他的機器人項目。 這些是2007年秋天我們贏得的獎項，從機器人競賽之類的活動中獲得的。
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 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. These are just the awards that we won in 2007 fallfrom robotics competitions and those kinds of things.
實際上我們有5個秘訣。 第一，我們從哪裡得到的啟發， 從哪裡得到靈感的？ 這是我個人切身經歷的。 凌晨三四點鐘的時候我上床睡覺， 我躺下，閉上眼睛，一些線環 和其他形狀的東西浮現在腦海中， 拼湊起來，它們組成了一些機器。 然後我想，「這個很棒。」 就在我的床頭有一個記事本，日記，帶有一個特殊的配有LED燈光的鋼筆， 因為我不想開燈弄醒我的妻子。
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, at three, four in the morning, 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 I think, "Ah, this is cool." So right next to my bed I keep a notebook, a journal, with a special pen that has an LED light on it, because I don t want to turn on the light and wake up my wife.
我看到這些繪圖，塗鴉上我的想法， 然後睡覺。 每天早上， 喝咖啡刷牙之前的第一件事， 我打開筆記本。 通常是空的， 有時候，就是一些胡寫亂畫上去的， 有時候，我都看不懂我的筆跡。凌晨4點寫的東西，你說能好到哪裡去？ 我得辨識我的潦草字跡。 有時候，我會看到巧妙的點子， 我就有了這種瞬間靈感Eureka。（Eureka阿基米德發現浮力後喊道的）
So I see this, scribble everything down, draw things, and 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. If something s there, sometimes it s junk. But most of the time, I can t read my handwriting. Four 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.
我直接跑到書房去，坐在計算機旁邊， 輸入下我的點子，我勾畫出來的東西， 我有一個點子資料庫。 當我們需要建議的時候， 我就會在我的潛在點子庫中找合適的 點子， 如果匹配我就寫一個研究建議， 獲得研究經費，這就是我們如何開始我們的研究計劃。
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 s a match, we write a research proposal, get the research funding in, and that s how we start our research programs.
僅僅是一絲靈感，還不夠。 我們如何發展這些點子呢？ 在機器人技術與機械實驗室（RoMeLa）， 我們有這個神奇的頭腦風暴會議。 我們聚在一起討論問題， 社會問題，諸如此類的。 討論之前，我們設定一個規矩。規矩是： 不準批評別人的點子。 不準指責任何意見。這很重要，因為，很多時候，學生們 害怕別人批評他們的點子或想法。
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 problems and solutions 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 fear or feel uncomfortable about how others might think about their opinions and thoughts.
一旦你這樣做， 你就會驚異地發現學生們的創造力。 他們有光怪陸離的點子， 整個房間里充滿了創意能量。 這是我們如何發展這些點子的。
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.
時間有限，我再說一點，只有點子和拓展是不夠的。 有一個TED演講， 我想他是Ken Robinson，對嗎？ 他在TED講過「學校教育扼殺了創造力」。 實際上，這是有正負兩面性的。 人們只能做這麼多， 非凡的點子和有創造力的工程直覺。如果你想超越機器人業餘愛好，真正通過枯燥的研究迎接機器人領域的巨大挑戰，我們需要更多的東西，這就是學校該出場的時候了。
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 kill creativity. Well, actually, there s 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.
蝙蝠俠和壞人戰鬥， 蝙蝠俠有著名的萬能腰帶、繩鉤， 還有其他的小玩意兒。對於我們，機器人學家，工程師，科學家， 這些工具就是在教室里的課程： 數學，微分方程、線性代數，科學，物理， 甚至，今天講到的諸如化學、生物學。這些都是我們需要的工具。 工具越多， 蝙蝠俠才能更有效的對抗壞人， 對於我們，工具越多就是解決問題的知識，所以教育至關重要。
Batman, fighting against the 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 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 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.
不僅僅是這些， 你還要非常努力工作。我常常告誡我的學生們學會聰明地工作，然後努力工作。這張照片是凌晨三點拍的。 如果您凌晨3、4點來我們實驗室， 您會看到學生們還在那裡，不是我要求的，而是他們有興趣做。
Also -- it s not 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 three in the morning. I guarantee if you come to our lab at 3, 4am, we have students working there, not because I tell them to, but because we are having too much fun.
最後一點， 別忘了找樂子。 這是我們成功的秘訣，我們工作中充滿了樂趣。 我認為人有多大樂，地有多大產。 這就是我們的工作。 就到這裡吧。
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. And there you go.
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