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I'm Henny Admoni, I'm a professor of robotics.
我是 Henny Admoni，机器人学教授。
Today, I'll be answering your questions from Twitter.
今天，我将在推特上回答你的问题。
This is "Robot Support." Down low.
这里是“机器人支持”。低一点。
@agg26243 asks, "Why are people so obsessed with making humanlike robots?
@agg26243 问：“为什么人们如此痴迷于制造类人机器人？
"Y'all need to chill." I don't disagree.
“你们都需要冷静。”我不是不同意。
Humanlike robots are great.
类人机器人很棒。
Usually a robot that's not shaped like a human is more robust and more capable of doing the task it needs to do.
通常，形状不像人类的机器人更健壮，更有能力完成它需要做的任务。
One example of a humanoid robot is Sophia the Robot.
人形机器人的一个例子是机器人索菲亚。
Some people would call this category of robots androids.
有些人会将这一类机器人称为人形机器。
Sophia is a highly realistic robot, but if you've ever watched Sophia, you know that there's still a gap between what the robot is doing and what we actually expect from people.
索菲亚是一个高度逼真的机器人，但如果你看过索菲亚，你就会知道机器人现在能做的事情和我们对人类的实际期望之间仍然存在差距。
This is often called "the uncanny valley," very humanlike robots can fall into that uncanny valley and make people pretty uncomfortable.
这通常被称为“恐怖谷”，非常人性化的机器人会掉进那个恐怖谷，让人很不舒服。
@furbyfactor asks, "How do you program personality into a robot?" It is hard to define exactly what makes a personality.
@furbyFacer 问：“如何将个性编程到机器人中？”很难准确定义什么是个性。
Robots are just programs.
机器人只是程序。
For example, if somebody makes a funny joke, should the robot laugh or should the robot roll its eyes?
例如，如果有人开了一个有趣的玩笑，机器人应该笑还是应该翻白眼？
This all has to be created in software.
这一切都必须在软件中创建。
When we're programming robots, what we're doing is building a set of instructions.
当我们给机器人编程时，我们做的是构建一组指令。
If you run into an obstacle, back up.
如果你遇到障碍物，后退。
To get more complex behavior, you can't rely just on pre-specified rules.
要完成更复杂的行为，你不能仅仅依赖预先指定的规则。
That's where something like machine learning comes in.
这就是机器学习的用处。
In machine learning, we are building algorithms which are basically just sets of instructions that can, based on the information that they're getting, adapt to themselves to learn the right kinds of output.
在机器学习中，我们会构建算法，这些算法基本上只是一组指令，可以根据它们获得的信息，适应自己来学习正确的输出类型。
@krysteenie asks, "Can you pick up a single M&M with a robot arm?" It kind of depends on the robot arm.
@krysteenie 问：“你能用机械臂拿起一颗 M&M 豆吗？”这在某种程度上取决于机械臂。
With this one, it's gonna be a little hard.
用这个的话会有点难。
Some robots are only robot arms and those are called manipulators, like this one right here.
有些机器人只是机械臂，这些被称为机械手，就像这里的这个。
Ah, so close.
啊，差一点。
This kind of fine motor manipulation is really challenging for robots.
这种精细的运动操作对机器人来说真的很有挑战性。
Robots don't have the level of motion and movement that we do in our fingers.
机器人不具备我们手指的运动水平。
The other thing that we use in our fingers that robots don't have is a sense of touch that allows us to tell when we are actually gripping something so that we can know that it's able to be picked up.
我们能用手做到的而机器人不行的另一件事就是触摸，触觉让我们能够判断我们何时真正抓住某样东西，这样我们就可以知道它能够被捡起来。
This box has fiducial markers on it.
这个盒子上有基准标记。
These are essentially QR codes that allow the robot camera to recognize what orientation and position the box is in.
这些本质上是二维码，让机器人的镜头识别盒子的方向和位置。
It's supposed to make it easier for the robot to pick up the box autonomously.
它应该让机器人更容易自行拿起盒子。
@SEO_Chase asks, "Do you think robots will one day take over all of our jobs?" The real benefit of robots is taking over the three Ds, the dull, dirty, and dangerous jobs that we probably don't want human beings to be doing anyway.
@SEO_Chase 问：“你认为机器人有一天会接管我们所有的工作吗？”机器人的真正好处是接管了三个 D，即我们可能不希望人类做的枯燥、肮脏和危险的工作。
People are working on underwater robots that can detect underwater landmines.
人们正在研究可以探测水下地雷的水下机器人。
Some people have worked on robots that can go into nuclear facilities after an accident and shut off different valves.
有些人研究过可以在事故后进入*设施核**并关闭不同阀门的机器人。
But I do hope that robots are able to make people better at their jobs and free people up to do things that they're actually good at and they actually want to do.
但我确实希望机器人能够让人们在工作中做得更好，让人们自由地做他们真正擅长和真正想做的事情。
@bigtechprof asks, "What is Elon's goal for the Tesla Optimus robot?" Elon Musk does not consult with me, but my understanding is that he's looking to build a general purpose home robot, one that can do everything from cleaning up your room to unloading your dishwasher.
@bigtechprof 问：“埃隆对特斯拉擎天柱机器人的目标是什么？”埃隆·马斯克没有咨询我，但我的理解是，他正在试图制造一种通用家用机器人，它可以做从打扫房间到卸下洗碗机的一切事情。
To design a robot that's capable of doing more than just one thing takes a ton of work and a ton of sophistication.
设计一个能够做不止一件事的机器人需要耗费大量的工作并且具有高度复杂性。
Tesla is pretty well positioned to do so.
特斯拉完全有能力做到这一点。
Their autonomous driving division has a huge computer vision capability, and they're building the kinds of batteries that would be needed to power this sophisticated a machine for a long period of time.
他们的自动驾驶部门拥有巨大的计算机视觉能力，他们正在制造为这台复杂的机器长时间供电所需的电池。
@DisplayYourCV says, "What are the major problems in the field of robotics today?" There are a few big challenges that we face today when we're trying to get robots out into the real world.
@DisplayYourCV 说：“当今机器人领域的主要问题是什么？”当我们试图让机器人进入现实世界时，我们如今面临着一些重大挑战。
The first one is perception.
第一个是感知。
How do we get robots to see and hear and interact with their environment and actually understand what it is that they're looking at?
我们如何让机器人看到、听到并与环境互动，并真正理解它们在看什么？
Another one is actuation: how do we get robots to move around in ways that allow them to achieve their tasks?
另一个是驱动：我们如何让机器人以允许它们完成任务的方式四处移动？
And finally, another big problem is intelligence: how do we make our robots smart enough to plan the right kind of action to do in order to achieve what they're trying to?
最后，另一个重大问题是智能：我们如何让我们的机器人足够聪明，从而规划正确的行动来实现它们正在尝试的事情？
One major area of interest to me is how we get robots to interact with people, like personal home robots or healthcare robots that are helping nurses and doctors.
我感兴趣的一个主要领域是我们如何让机器人与人互动，比如个人家用机器人或帮助护士和医生的医疗保健机器人。
@alicejanetaylor asks, "I just wanna know how Boston Robotics plans to deal with humans who think pushing robots over is hilarious?" There are lots of people who are doing research on how robots should respond to various forms of abuse.
@alicejanetaylor 问：“我只是想知道波士顿机器人公司计划如何应对那些认为将机器人推倒很滑稽的人类？”有很多人正在研究机器人应该如何应对各种形式的虐待。
One that I like the most is that when a robot is being kicked by kids in a shopping mall, researchers found that if it just rolls to the nearest adult, the kids will stop.
我最喜欢的一个是，当一个机器人在购物中心被孩子们用脚踢时，研究人员发现，如果它只是滚到最近的成年人身边，孩子们就会停下来。
@alaviers asks, "Have you ever had a genuine social interaction with a robot?" Although I can't say that I have had a deep social interaction with a robot, I can say that I have felt social reactions to robots.
@alaviers 问：“你曾经和机器人进行过真正的社交互动吗？”虽然我不能说我和机器人有过深度的社交，但我可以说我感受到了社会对机器人的反应。
For example, this is Kuri.
例如，这是库里。
Kuri is really cute.
库里真的很可爱。
If you pet Kuri's head, it'll purr.
如果你抚摸库里的头，它会咕噜咕噜叫。
And that kind of response actually does generate some social interaction for me.
这种回应确实让我产生了一些社交互动。
A lot of people are working on social robots to help people in the home or in elder care situations, and in these cases, it's really important that the robot is able to connect socially with people.
很多人正在研究社交机器人来帮助在家或照顾老人的人，在这些情况下，机器人能够与人建立社交联系非常重要。
For example, it should tell when somebody's frustrated or not wanting to take a bite of food or somebody's tired and should just go to bed.
例如，它应该能识别出某人很沮丧或不想吃东西或某人累了，应该上床睡觉。
Detecting these social cues is still really challenging to build into an algorithm, and that's a huge part of social robotics.
要把检测这些社交线索的功能构建到算法中仍然很难，这是社交机器人的一个重要部分。
@TomaszKosmider asks, "How AI and robotics have a lot of overlap.
#AI is being used in#Robotics?"@TomaszKosmider 问：“#人工智能是如何在#机器人技术中使用的？”人工智能和机器人技术有很多重叠。
AI is all about how you get systems to act intelligently.
人工智能就是如何让系统智能地行动。
Robotics is about taking devices and putting them out in the real world and having them move around and interact with the environment or with people.
机器人技术是将设备放在现实世界中，让它们四处移动并与环境或人互动。
So in order for robots to work, we really need the AI to support them, but robotics is more than just the AI that supports them, it's also about the mechanics of building a physical system and the electronics of developing safe circuitry.
所以为了让机器人工作，我们需要人工智能来支持它们，但是机器人技术不仅仅是支持它们的人工智能，它还涉及构建物理系统的机制和开发安全电路的电子学。
Robotics and AI, big overlap, but still two separate fields.
机器人和人工智能有很大的重叠，但仍然是两个独立的领域。
@joemorone asks, "Self-driving cars are already on the road.
@joemorone 问：“自动驾驶汽车已经上路了。
"When there's a problem, how do we understand the decisions AI makes?' Self-driving cars are essentially a type of robot moving around in the world and making intelligent decisions based on what they're perceiving.
“当出现问题时，我们如何理解人工智能做出的决定？”自动驾驶汽车本质上是一种在世界上四处走动的机器人，并根据它们的感知做出智能决策。
These algorithms that robots are using for decision making are sort of like black boxes.
机器人用于决策的算法有点像黑匣子。
Inputs come in in the form of perceptions or knowledge and then outputs come out in the form of actuation.
以感知或知识的形式输入，然后以驱动的形式输出。
The robot decides to merge or decides to stop.
机器人来决定合并或停止。
But that black box can be very, very complicated, and because of that, we need something like Explainable AI in order to back out the processes that the robot used to get to where it was going.
但是那个黑匣子可能非常非常复杂，正因为如此，我们需要像 Explainable AI 这样的东西来撤销机器人用来到达它要去的地方的流程。
@EEWorldOnline asks, "What types of sensors are used in robots?" Some robots have cameras like this one that can detect not just color images but also depth using infrared.
@EEWorldOnline 问：“机器人中使用了哪些类型的传感器？”一些机器人有这样的摄像头，它不仅可以检测彩*图色**像，还可以使用红外线检测深度。
Other robots have physical sensors, like bump sensors or capacitive sensors that respond to touch.
其他机器人有物理传感器，例如碰撞传感器或响应触摸的电容传感器。
Time of light sensors or other kinds of ways, excuse me, my robot is escaping.
时间光传感器或其他方式，对不起，我的机器人正在逃跑。
The original Roombas also had bump sensors, that's how they knew they were running into something.
最初的 Roombas 也有碰撞传感器，这样它们就知道自己遇到了什么。
Lots of robots also use audio sensors.
许多机器人也使用了音频传感器。
Hey Kuri.
嘿，库里。
Like that.
像这样。
@247pressrelease asks, "What are swarm robots and how are they learning from insects?" If you watched the Olympics, you've seen these beautiful displays of lights floating in space.
@247pressversion 问：“什么是群体机器人，它们是如何向昆虫学习的？”如果你看过奥运会，你就会看到这些漂浮在太空中的美丽灯光。
Those are swarm robots.
这些是群体机器人。
Swarm robots are groups of robots that operate in a collective, they have intelligence that's distributed across the entire system so that no one of them has the central information.
群体机器人是以集体为单位运行的机器人，它们的智能分布在整个系统中，因此它们中没有一个是拥有中心信息的。
These are designed and inspired by the way insect swarms operate and it's just one example of the ways that robotics has been inspired by biology.
它们的设计和灵感来源于虫群的运作方式，这只是机器人技术受到生物学启发的一个例子。
@RoboTricks1, "How Six-Axis Industrial Robots work?" Six-axis robots are called that because they can move in six different directions.
@RoboTricks1 问，“六轴工业机器人如何工作？”之所以叫六轴机器人，是因为它们可以在六个不同的方向上移动。
Here's an example of of a six-axis robot.
这是一个六轴机器人的例子。
It can move in three directions of physical space, left and right, up and down, and forward and back.
它可以在物理空间的三个方向上移动，左右、上下、前后。
They can also move in three directions of orientation space: pitch, yaw, and roll.
它们还可以在三个方向上移动：俯仰、偏转和滚动。
These robots work by deciding how to move every joint in the kinematic chain in order to get the robot hand, which we call an end effector, to the right position.
这些机器人的工作原理是决定如何移动运动链中的每个关节，以便将我们称为末端执行器的机械手移动到正确的位置。
This process of calculating how the joints will need to move to put the end effector in the right spot is called inverse kinematics.
这种计算关节需要如何移动以将末端执行器放在正确位置的过程称为逆运动学。
@SpiCodeX asks, "Do you know who invented the first robot in history?
@SpiCodeX 问：“你知道历史上第一个机器人是谁发明的吗？
"What was it?" So what makes a robot, anyway?
“是什么机器人？”那么到底什么叫机器人？
It needs to be able to sense its environment, plan using that sensor input in some smart way, and then act on the world.
它需要能够感知其环境，以某种智能方式使用该传感器输入进行规划，然后对外界采取行动。
So given those criteria for being a robot, the first broadly accepted real robot was Shakey.
因此，鉴于这些机器人的标准，第一个被广泛接受的真正机器人是 Shakey。
It was invented in the mid-60s in California.
它是 60 年代中期在加利福尼亚发明的。
It was a robot that had a big television camera on top and it had wheels and it could take instructions and roll around a different obstacle course with objects in its way, that was the foundation of a lot of the robotics that we do today.
这个机器人顶部有一个大的电视摄像机，它有轮子，它能接受指令，在不同的障碍跑道上滚动，挡住物体，这是我们如今许多机器人技术的基础。
@edgeronia asks, "What if the only thing that's preventing a full-on global robot takeover are a handful of CAPTCHA servers?" CAPTCHA servers are servers that run those kind of annoying little answers that you have to give to prove that you're not a robot.
@edgeronia 问：“如果唯一能阻止全球机器人全面接管的是少数验证码服务器怎么办？”验证码服务器是运行那些烦人的小答案的服务器，你必须给出这些答案来证明你不是机器人。
You have to identify pictures that have particular objects in them.
你必须识别出有特定物体的图片。
What you're actually doing with those CAPTCHA servers is training intelligent systems.
这些验证码服务器实际上是在训练智能系统。
On the back end, companies are using that data to try to build better classifiers for things like traffic lights or bicycles.
在后端，公司正在使用这些数据来尝试为交通信号灯或自行车等事物构建更好的分类器。
We've seen lots of movies where robots are the evil beings that are taking over from humans.
我们看过很多电影，机器人是取代人类的邪恶生物。
The reality is we're still really far from any notion of robots being capable enough to operate in environments in order to have any kind of impact like that.
现实情况是，我们距离机器人能够在环境中运行从而造成影响的概念还很远。
@localplumbinghe asks, "Could 'Star Wars' droids be real?" We are pretty far from robots like C3PO and R2D2.
@localpluminhe 问：“《星球大战》中的机器人可能是真的吗？”我们与 C3PO 和 R2D2 等机器人相去甚远。
They are showing super advanced versions of the technologies that researchers are working on right now.
它们展示了研究人员正在研究的技术的超级先进版本。
Now these are two very different approaches and they serve different purposes.
这是两种非常不同的方法，它们有不同的目的。
C3PO which is a humanoid robot, it's shaped like a person, it walks upright, it uses language that people use to communicate, including the variety of different accents and dialects that people use, and then we have R2D2.
C3PO 是一个人形机器人，它的形状像一个人，它直立行走，它使用人们用来交流的语言，包括人们使用的各种不同的口音和方言，然后我们有 R2D2。
It's explicitly not humanoid, kind of looks like a trashcan, it uses wheels instead of legs to move around.
它显然不是人形的，看起来有点像垃圾桶，它用轮子代替腿四处走动。
The language that it speaks is beeps and boops, and humans have learned the robot's language.
它说的语言是哔哔声，人类已经学会了机器人的语言。
That's not something that we see today.
这不是我们今天所看到的。
Most of the time, we are getting robots to adapt to people and not the other way around.
大多数时候，我们让机器人适应人类，而不是反过来让人类适应机器人。
@steveboyl3 asks, "Why do we need robotic delivery cool boxes driving around slowly getting in everyone's way?
@steveboyl3 问，“为什么我们需要机器人慢悠悠地运送冰盒，挡住每个人的路？
"Are we just making robots for the sake of making robots?" The idea behind delivery robots is to make it more convenient for people to acquire things like groceries or delivery food.
“我们只是为了制造机器人而制造机器人吗？”送货机器人背后的想法是让人们更方便地获取杂货或外卖食品等物品。
The idea of these robots is worthy, but right now, the reality of their implementation is that they move around pretty slow and they often do block traffic.
这些机器人的想法是有价值的，但现在，它们实施的现实是它们移动得很慢，而且经常会阻塞交通。
So the technology hasn't yet caught up to the reality.
所以这项技术还没有跟上现实。
We don't want to make robots for the sake of making robots, but I think a lot of the times, we're building robots because we're trying to make life a little bit easier or a little bit more equal for people.
我们不想为了制造机器人而制造机器人，但我认为很多时候，我们制造机器人是因为我们试图让人们的生活更轻松或更平等。
@cif_kh asks, "Could a real-life 'Westworld' be in our future?" It takes a lot to make a robot that is indistinguishable from a human being.
@cif_kh 问，“现实生活中的《西部世界》会出现在我们的未来吗？”制造一个与人类无法区分的机器人需要很多时间。
This is because humans are super sophisticated.
这是因为人类是超级复杂的。
We have dozens of muscles just in our face to make facial expressions.
我们面部有几十块肌肉来做面部表情。
Getting a robot to be capable of that requires dozens of motors, and that's not really a realistic thing right now.
让一个机器人能够做到这一点需要几十个马达，而这在现在并不是一件现实的事情。
I'd say we're still a pretty long way off from these kinds of hyper-realistic robots like in "Westworld." @ASMEJournals asks, "What are the nanobots?" Nanobots are tiny robots, that's what the word nano means in their name.
我想说，我们离像《西部世界》中那样的超现实机器人还有很长的路要走。@ASMEJournal nals 问：“纳米机器人是什么？”纳米机器人是微型机器人，这就是纳米这个词在它们名字里的原因。
They are designed for a variety of applications including things like medicine going into the human body.
它们被设计用于各种应用，包括进入人体的药物。
Because they're so small, it's hard to get electronics that will fit into them.
因为它们太小了，很难找到适合它们的电子元件。
Often, they're designed to respond to the chemical environment, for example, something that you might find in the human body.
通常它们被设计成对化学环境做出反应，例如，你可能在人体中发现的一些东西。
It's actually this really interesting connection between robotics and chemistry and material science.
这实际上是机器人技术与化学和材料科学之间非常有趣的联系。
@MetrologicallyS, "How is robot simulation software used to program robots virtually?" Simulation is a huge part of what we do in robot development.
@MetrologicallyS 问，“如何使用机器人仿真软件对机器人进行虚拟编程？”仿真是我们在机器人开发中所做工作的重要组成部分。
We do a lot of our testing in simulation so that we know that when we bring those into the real world, that they are more likely to work.
我们在模拟中做了很多测试，这样我们就知道当我们把它们带到现实世界时，它们更有可能工作。
Simulations can be limited, though.
不过，模拟可能会受到限制。
You need to replicate real-world physics including friction and different kinds of forces and wind shear.
你需要复制真实世界的物理学，包括摩擦力和各种力以及风切变。
That can be exceedingly computationally expensive.
这可能是非常昂贵的电脑计算。
Simulations are still easier than putting the robots in the real world, and so they're still a hugely popular tool in robotics.
模拟仍然比将机器人放在现实世界中更容易，因此它们仍然是机器人技术中非常受欢迎的工具。
@BlileyTech asks, "How are These robots are being deployed autonomously to roll around, collect samples, take measurements, and do all of the scientific data finding that we need to do to understand what's in space.
#robots used in#space exploration?"@BlileyTech 问：“#机器人如何用于#太空探索？”这些机器人被自主部署从而滚动、收集样本、进行测量，并完成我们为了了解太空中的情况而需要做的所有科学数据采集。
We've had several robots sent to Mars.
我们已经将几个机器人送上火星。
Here at Carnegie Mellon University, where I work, we have a huge project on building robots that are capable of operating autonomously on the moon.
在我工作的卡内基梅隆大学，我们有一个巨大的项目，要制造能够在月球上自主运行的机器人。
There's a robot that's actually being developed and tested here right now and we're hoping to send it into space soon.
我们正在研发和测试一个机器人，我们希望能尽快把它送入太空。
@Distrelec asks, "How are cobots helping to transform industry?" A cobot is a collaborative robot specifically designed to work with human beings.
“协作机器人如何帮助改变行业？”协作机器人是一种专门设计用于与人类合作的协作机器人。
One big area that people are looking at for cobots right now is in shared manufacturing, so you have a person who is building something in a factory and the robot is able to do things like fetch materials for them or hold parts while they do the fine motor manipulation.
人们现在探索的协作机器人的一个重要领域是共同制造，所以有一个人在工厂里建造东西，机器人能够做一些事情，比如为他们取材料或在他们做精细运动操作时握住零件。
In this case, the robot is collaborative for a few reasons.
在这种情况下，机器人是起协作作用的，原因有几个。
One is that it's sharing space and tools with human beings, but another is that it's actually being trained by a human being, so it's learning how to do this from a person, and that's a big part of collaboration is this kind of sharing of information.
一个原因是它和人类共用空间和工具，另一个原因是它实际上是被人类训练的，所以它从人那里学习如何做这件事，这种合作的很大一部分是信息共享。
@wizkellicap says, "Agricultural robots a growing trend?" In fact, it is.
@wizkellicap 说：“农业机器人是一种越来越强的趋势？”事实上，确实如此。
There's a huge problem right now in growing enough food and distributing it to get to all the people in the world, and people are looking to robotics to help solve that.
现在将种植足够的粮食并将其分发到世界上所有人手中面临着一个巨大的问题，人们正在寻求机器人技术来帮助解决这个问题。
Robots that can roll down a field of crops and tell a farmer whether the crop is healthy or needs different kinds of nutrients, or robots that can very quickly sort through strawberry plants to tell the farmer which ones are gonna grow well and which ones need to be thrown out.
机器人可以进入田地里，告诉农民庄稼是否健康或需要不同种类的营养，或者机器人可以非常快速地分类草莓植物，告诉农民哪些会长得很好，哪些需要扔掉。
The hope is that these agricultural robots are going to be able to help farmers increase their impact and make farming in general more sustainable.
希望这些农业机器人能够帮助农民增加它们的影响力，并使农业总体上更加可持续。
Those are all the questions for today.
这些就是今天要讨论的问题。
Thanks so much for all the interesting questions, and thanks for watching "Robot Support." Shh, she's sleeping.
非常感谢所有有趣的问题，感谢收看“机器人支持”。嘘，她在睡觉。