RobertFull_2005[罗伯特福尔][探索动物移动的奥秘].pdf

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1、www.XiYuS锡育软件I want you to imagine that youre a student in my lab.想象一下你是我实验室里的一个学生。00:12What I want you to do is to create a biologically-inspireddesign.我想让你做一个由生物激发灵感的设计。00:17And so heres the challenge:I want you to help me create afully 3D,dynamic,parameterized contact model.挑战是这样的：我想让你帮我制造出一个全3D、

2、参数化的动力接触模型。00:21The translation of that is,could you help me build a foot?翻译一下，意思就是能不能帮我造一只脚？00:29And it is a true challenge,and I do want you to help me.这件事真的很有挑战，我确实需要你们的帮助。00:33Of course,in the challenge there is a prize.当然，这是有奖励的。00:35Its not quite the TED Prize,but it is an exclusive t-shirt fr

3、omour lab.不太算是TED奖品，但是我们实验室的特别版T恤。00:37So please send me your ideas about how to design a foot.所以请将你们关于如何设计一只脚的想法发个我。00:44Now if we want to design a foot,what do we have to do?好，如果我们想设计一只脚，需要做什么呢？00:50We have to first know what a foot is.首先我们需要知道脚是什么。00:54If we go to the dictionary,it says,Its the l

4、ower extremity ofa leg that is in direct contact with the ground in standing orwalking如果我们去查字典，字典上说：“脚是在站立及行走时，腿的最末端直接接触地面的部位。”00:57Thats the traditional definition.这是传统的定义。01:02parameterized:adj.数参数化的/v.使参数化(parameterize的过去式和过去分词)exclusive:adj.独有的;排外的;专一的/n.独家新闻;独家经营的项目;排外者 extremity:n.极端;绝境;非常手段;手

5、足But if you wanted to really do research,what do you have todo?但如果你真的想要做研究，还要做什么呢？01:03You have to go to the literature and look up whats knownabout feet.你必须还要去翻阅文献，看关于脚人们都知道了些什么。01:06So you go to the literature.(Laughter)Maybe youre familiarwith this literature.所以你去查阅了文献。（笑）也许你对这些作品很熟悉。01:09The pro

6、blem is,there are many,many feet.问题是，这里有很多很多只脚。01:14How do you do this?该怎么办呢？01:17You need to survey all feet and extract principles of howthey work.你需要去调查这所有的脚，并且从中提炼出它们是如何工作的理论。01:18And I want you to help me do that in this next clip.在下一张图上，我就想让你来帮我做这件事。01:23As you see this clip,look for principle

7、s,and also think aboutexperiments that you might design in order to understandhow a foot works.当你看这张图时，请寻找理论。而且考虑你要设计什么样的实验 才能帮助你明白这些脚是如何工作的。01:25See any common themes?Principles?看到有什么共同点了吗？共同的原理？01:44What would you do?你接下来要怎么做？01:46What experiments would you run?要进行什么样的实验？01:59Wow.(Applause)Our res

8、earch on the biomechanics ofanimal locomotion has allowed us to make a blueprint for afoot.哇。（鼓掌）我们关于动物运动力方面的生物力学研究 使得我们可以为一只脚绘制出蓝图。03:31familiar with:熟悉 survey:n.调查;测量;审视;纵览/vt.调查;勘测;俯瞰/vi.测量土地 extract:vt.提取;取出;摘录;榨取/n.汁;摘录;榨出物;选粹 themes:n.主题(theme的复数);布景主题;桌面主题 biomechanics:n.生物力学;生物机械学 locomotion

9、:n.运动;移动;旅行 blueprint:vt.计划;制成蓝图/n.蓝图,设计图;计划Its a design inspired by nature,but its not a copy of anyspecific foot you just looked at,but its a synthesis of thesecrets of many,many feet.这是一个由自然启发而来的设计，不单单是复制你刚才看到的某只特定的脚，而是综合了许多许多只脚的秘密。03:42Now it turns out that animals can go anywhere.现在人们发现动物哪儿都能去。

10、03:52They can locomote on substrates that vary as you saw-inthe probability of contact,the movement of that surface andthe type of footholds that are present.它们能在不同的情况下移动 这些变化因素包括接触形势，表面的运动 以及它们所呈现的不同的立足点。03:55TED演讲者：Robert Full|罗伯特?福尔演讲标题：Secrets of movement,from geckos and roaches|探索动物移动的奥秘内容概要：Ro

11、bert Full studies cockroach legs and gecko feet.His research is helping build theperfect distributed foot for tomorrow.s robots,based on evolution.s ancient engineering.生物学家罗伯特?福尔与我们分享一些有趣动物的慢速录像。我们可以近距离观察蟑螂多刺的腿，这些多刺的腿可以帮助他们穿过网状表面。还可以观察到帮助壁虎爬墙那成千上万的细毛而组成的脚。If you want to study how a foot works,were

12、going to have tosimulate those surfaces,or simulate that debris.若想要研究脚是如何工作的 我们就需要模仿这些表面，或那些碎片。04:04When we did that,heres a new experiment that we did:weput an animal and had it run-this grass spider-on asurface with 99 percent of the contact area removed.当我们进行模仿时，这里是我们做的一个新实验：我们将一只动物放上去然后让它跑这是一只草蛛

13、 被放在一个99%的接触区域都被去除了的表面上。04:10But it didnt even slow down the animal.但它甚至没有使动物的移动缓慢下来。04:20Its still running at the human equivalent of 300 miles perhour.草蛛仍然以相当于人类300英里/小时的速度移动着。04:22synthesis:n.综合,化学合成;综合体 locomote:vt.移动;行动 substrates:n.基板;基底(substrate的复数);基片 footholds:n.演示页面;脚架犯规(foothold的复数)simul

14、ate:vt.模仿;假装;冒充/adj.模仿的;假装的 surfaces:n.表面;曲面(surface的复数)/v.使成平面(surface的第三人称单数形式)debris:n.碎片,残骸 slow down:减速,放慢速度;使慢下来 equivalent:adj.等价的,相等的;同意义的/n.等价物,相等物Now how could it do that?Well,look more carefully.它是怎么办到的？好吧，仔细的看。04:25When we slow it down 50 times we see how the leg is hittingthat simulated

15、 debris.当我们以50倍的速度将其放慢，就可以看到腿是如何接触那些仿制的碎片的。04:28The leg is acting as a foot.腿发挥了脚的功能。04:34And in fact,the animal contacts other parts of its leg morefrequently than the traditionally defined foot.事实上，动物用腿的其他部位接触表面 比用传统定义界定的足频繁得多。04:36The foot is distributed along the whole leg.足分布在整条腿上。04:42You can

16、do another experiment where you can take acockroach with a foot,and you can remove its foot.你也可以做另一个实验，用一只带脚的蟑螂，然后把它所有的脚都去掉。04:46Im passing some cockroaches around.Take a look at theirfeet.我在分发一些蟑螂。来看看他们的脚是什么样子的。04:52Without a foot,heres what it does.It doesnt even slowdown.没有了脚，这是他们继续做的事。它甚至都没有慢下来。

17、04:56It can run the same speed without even that segment.没有那个部分它们仍可以以同样的速度移动。05:00No problem for the cockroach-they can grow them back,ifyou care.别为蟑螂担心它们还能把脚长回来，如果你很在意。05:03How do they do it?它们是怎么做到的？05:06simulated:adj.模拟的;模仿的;仿造的/v.模仿(simulate的变形);假装 frequently:adv.频繁地,经常地;时常,屡次traditionally:adv.传

18、统上;习惯上;传说上 cockroach:n.昆蟑螂 cockroaches:n.昆蟑螂(cockroach的复数)Take alook at:看一看;检查Look carefully:this is slowed down 100 times,and watchwhat its doing with the rest of its leg.仔细看：这是放慢100倍后的。观察他们在用腿的其余部分做什么。05:08Its acting,again,as a distributed foot.又一次，腿作为被广泛分布的足了。05:14Very effective.很有效果。05:17Now,the

19、 question we had is,how general is a distributedfoot?现在问题是，到底有多少动物有类似的分布足？05:19And the next behavior Ill show you of this animal juststunned us the first time that we saw it.下面将要为你们展示的这个动物，我们第一次看时感到很震惊。05:24Journalists,this is off the record,its embargoed-take alook at what that is!记者们，这可是没人报道过的，被禁止

20、的 看那是什么！05:33Thats a bipedal octopus thats disguised as a rollingcoconut.这个两足的章鱼试图佯装成一个可以滚动的椰子。05:40It was discovered by Christina Huffard and filmed by SeaStudios,right here from Monterey.克里斯蒂娜?胡法德发现了它 这影片由海洋工作室（Sea Studios）在蒙特瑞拍摄的。05:47Weve also described another species of bipedal octopus.我们也关注了另

21、一种双足章鱼。05:56slowed:adj.慢的;减速的;迟钝的/vi.变慢;变萧条/vt.放慢;阻碍/adv.慢慢地;迟缓地 stunned:adj.受惊的/v.使震惊;使不知所措(stun的过去式及过去分词形式)Journalists:n.新闻记者(journalist的复数)off the record:非正式的;(美)不可引用的;非官方的 embargoed:adj.被禁止的;被禁运的/v.禁止或限制(embargo的过去式和过去分词)bipedal:adj.两足动物的;二足的/n.两足动物 octopus:n.章鱼/章鱼肉 disguised:伪装的 coconut:n.椰子;椰子

22、肉 Studios:n.工作室(studio的复数)www.XiYuS锡育软件This one disguises itself as floating algae.这一只将自己伪装成了浮动的海藻。06:01It walks on two legs and it holds the other arms up in the airso that it cant be seen.它用两条腿走路然后将两只胳膊高举在空中，以保证不让其他生物看见。06:04(Applause)And look what it does with its foot to get overchallenging terr

23、ain.（鼓掌）看，当他们要通过崎岖不平的地面时是如何使用脚的。06:09It uses that beautiful distributed foot to make it as if thoseobstacles are not even there.它用它们那美丽的均匀分布的足，使得这些障碍好似不存在一般。06:18Truly extraordinary.真的很特别。06:29In 1951,Escher made this drawing.He thought he created an1951年，埃舍尔画了这幅画。他觉得自己创造出In 1951,Escher made this dr

24、awing.He thought he created ananimal fantasy.了一个神奇的动物。06:33But we know that art imitates life,and it turns out nature,three million years ago,evolved the next animal.但是我们知道艺术模仿生命，因此人们发现300万年前，自然进化孕育了要展出的这下一个动物。06:38Its a shrimp-like animal called the stomatopod,and hereshow it moves on the beaches o

25、f Panama:it actually rolls,andit can even roll uphill.这个像小虾的动物被称为口脚类动物，这里是它如何在巴拿马的海滩上移动的：它其实在滚动，而且竟然还能向上滚。06:43Its the ultimate distributed foot;its whole body in this case isacting like its foot.这最终是因为均匀分布的足；在这种情况下，它的整个身子都扮演着脚的角色。06:53disguises:化装 algae:n.植藻类;植海藻 up in the air:悬而未决 terrain:n.地理地形,地

26、势;领域;地带 obstacles:n.障碍;障碍物(obstacle的复数形式);阻碍 imitates:vt.模仿,仿效;仿造,仿制 beaches:n.海洋海滩;海洋海滨(beach的复数形式)uphill:adj.上坡的,向上的/adv.向上地;往上坡/n.上升;登高So,if we want to then to our blueprint add the first importantfeature,we want to add distributed foot contact.所以我们为我们的蓝图上加上第一个重要的特征，我们加上均匀分布的足。07:03Not just with

27、the traditional foot,but also the leg,and evenof the body Can this help us inspire the design of novelrobots?不光是在传统的足部部位，也在腿上。而且甚至是在身上。这能启示我们设计出新的机器人吗？07:10We biologically inspired this robot,named RHex,built bythese extraordinary engineers over the last few years.我们受到生物的启示所创造的机器人，叫做RHex,RHex在过去几年前由

28、这些卓越的工程师创造出来。07:18RHexs foot started off to be quite simple,then it got tunedover time,and ultimately resulted in this half circle.RHex的脚一开始时非常简单，但是它总是被修改，知道最后变成了这样的半圆形。07:25Why is that?The video will show you.这是为什么？下面这段录像将为您解开疑惑。07:33Watch where the robot,now,contacts its leg in order to dealwith t

29、his very difficult terrain.看这个机器人，现在，当它如何用腿接触这些有障碍的地表，试图翻越过去。07:35What youll see,in fact,is that its using that half circle leg asa distributed foot.你会看到，事实上，它用这半圆形的脚当做均匀分布的足了。07:42Watch it go over this.看它翻越这里。07:48You can see it here well on this debris.你可以从这里看它穿过这些碎片。07:50Extraordinary.No sensing,

30、all the control is built right intothe tuned legs.非常棒。没有传感装置，所有的控制组件都装在这个谐调的腿中了。07:53biologically:adv.生物学上,生物学地 tuned:adj.经调谐的;谱好曲的;调好台的/v.调整;调音;发出乐音(tune的过去分词)resulted:结果/致使/成绩/答案/起因 sensing:n.传感;感觉;测知/adj.敏感的/v.感觉,了解(sense的现在分词)Really simple,but beautiful.很简单，但非常棒。07:59Now,you might have noticed s

31、omething else about theanimals when they were running over the rough terrain.现在，你可能要关注这些动物的其他方面了，当它们跑过崎岖不平的地表面时。08:01And my assistants going to help me here.我的助手要帮我一下。08:06When you touched the cockroach leg-can you get themicrophone for him?当你摸蟑螂的腿时你能帮我把话筒递给他吗？08:08When you touched the cockroach leg

32、,what did it feel like?当你摸蟑螂的腿时，有什么感觉？08:12Did you notice something?感觉到什么不同了吗？08:15Boy:Spiny.男孩：很多刺。08:17Robert Full:Its spiny,right?Its really spiny,isnt it?It sort ofhurts.罗伯特?福尔：很多刺，是吗？感觉很扎，对不对？有点疼。08:18Maybe we could give it to our curator and see if hed bebrave enough to touch the cockroach.也许我

33、们应该把蟑螂给监护人，看他有没有勇气也摸一摸。08:22(Laughter)Chris Anderson:Did you touch it?（笑）克里斯?安德森：你摸过吗？08:28RF:So if you look carefully at this,what you see is that theyhave spines and until a few weeks ago,no one knew whatthey did.罗伯特?福尔：所以当你很仔细的观察，会发现上面真的有很多刺。直到几周前，一直也没人知道这些刺是用来做什么的。08:30They assumed that they wer

34、e for protection and for sensorystructures.他们推测那些刺起到保护作用，是用来感知周围结构用的。08:36Spiny:adj.多刺的;麻烦的;尖刺状的 curator:n.馆长;监护人;管理者 spines:n.解剖脊柱;棘状突起;体刺(spine的复数)sensory:adj.感觉的;知觉的;传递感觉的We found that theyre for something else-heres a segmentof that spine.后来我们发现它们有别的功效这里是一根刺的一部分08:39Theyre tuned such that they e

35、asily collapse in one directionto pull the leg out from debris,but theyre stiff in the otherdirection so they capture disparities in the surface.它们的构造使得它们都很容易向一个方向倒 把一条腿从碎片中拔出，这些毛很硬，不会弯向另一个方向，因此可以对付不同的表面。08:43Now crabs dont miss footholds,because they normallymove on sand-until they come to our lab.

36、螃蟹不需要寻找立足点，因为他们通常在沙子上行走 知道他们被请入我们的实验室。08:54And where they have a problem with this kind of mesh,然后他们在这些网子上移动会遇到问题，因为他们没有刚毛。08:59And where they have a problem with this kind of mesh,because they dont have spines.们没有刚毛。08:59The crabs are missing spines,so they have a problem in thiskind of rough terra

37、in.螃蟹由于没有刚毛，所以在这些不平整的表面上移动会显得不自在。09:05But of course,we can deal with that,because we can produceartificial spines.但当然，我们能帮助它们，因为我们可以制造人工刚毛。09:08We can make spines that catch on simulated debris andcollapse on removal to easily pull them out.我们可以制造能够应付仿制碎片的刚毛 而且在我们不需要它们时还能很容易的拔出。09:15We did that by p

38、utting these artificial spines on crabs,as yousee here,and then we tested them.我们把这些人工的刚毛装在螃蟹腿上，你看，我们测试一下。09:21Do we really understand that principle of tuning?The answeris,yes!我们真正明白调谐的原理了吗？答案是：对！09:26spine:n.脊柱,脊椎;刺;书脊 disparities:不一致(disparity的复数)crabs:n.蟹类;吊钳;脾气坏的人(crab的复数)/v.捕蟹;抱怨;侧航(crab的三单形式)

39、mesh:n.网眼;网丝;圈套/vi.相啮合/vt.机啮合;以网捕捉 tuning:n.电子通信调谐;调音,起弦;协调一致;起音,定音This is slowed down 20-fold,and the crab just zooms acrossthat simulated debris.这是放慢20倍后的，螃蟹飞速的横穿过这个模拟碎片。09:30(Laughter)(Applause)A little better than nature.（笑声）（掌声）比自然形成的稍微好一些。09:35So to our blueprint,we need to add tuned spines.所以

40、在我们的蓝图上，要加上具有调谐作用的刺。09:40Now will this help us think about the design of more effectiveclimbing robots?这些可以帮助我们设计出更会爬墙的机器人吗？09:43Well,heres RHex-RHex has trouble on rails-on smoothrails,as you see here.这里是RHexRHex穿过轨道时遇到了麻烦在平滑的轨道上，你看。09:48So why not add a spine?My colleagues did this at U Penn.为什么不加

41、一个刺呢？我的同事帮他加上了。09:53Dan Koditschek put some steel nails-very simple version-on the robot-and heres RHex,now,going over those steel-those rails.No problem!丹?柯蒂斯将一些钢钉非常简单的型号装在机器人上 于是现在的RHex，越过那些钢制的轨道。没有问题！09:57How does it do it?它是怎么做到的？10:07Lets slow it down and you can see the spines in action.我们放慢速度

42、，你就能看到那些刺是如何工作的了。10:08Watch the leg come around,and youll see it grab on rightthere.看腿移动过来了，你看它刚好能抓稳。10:10It couldnt do that before,it would just slip and get stuck andtip over.以前它是办不到的，只会打滑、卡主然后翻倒。10:13zooms:n.急速上升;嗡嗡声;摄变焦摄影/vi.急速上升;摄象机移动/vt.使摄象机移动 rails:铁路股票 come around:来;苏醒,恢复知觉 grab:vt.攫取;霸占;将深深

43、吸引/vi.攫取;夺取/n.攫取;霸占;夺取之物And watch again,right there-successful.现在再看一遍，就这样成功。10:16Now just because we have a distributed foot and spinesdoesnt mean you can climb vertical surfaces.现在只拥有有均匀分布的足以及刺 并不代表可以爬上垂直的表面。10:20This is really,really difficult.这个真的非常，非常难。10:26But look at this animal do it!但看动物们很多都

44、会！10:28One of the ones Im passing around is climbing up thisvertical surface thats a smooth metal plate.有这样一个动物是在光滑的金属盘子表面向上爬。10:30Its extraordinary how fast it can do it-but if you slow itdown,you see something thats quite extraordinary.它们的爬行速度快得惊人 看如果放慢速度，你会发现一些很神奇的事。10:36Its a secret.The animal e

45、ffectively climbs by slipping andlook-and doing,actually,terribly,with respect to grabbingon the surface.这是个秘密。动物很有效的利用滑动，看 事实上，很恐怖的是，它们在抓取表面。10:42It looks,in fact,like its swimming up the surface.看上去像从表面上游了上去。10:50We can actually model that behavior better as a fluid,if youlook at it.我们其实可以将这一行为模仿为

46、流动体的，如果你仔细观察。10:53The distributed foot,actually,is working more like a paddle.这些分布式足事实上工作原理更像是桨。10:57climbs:vi.爬;攀登;上升/vt.爬;攀登;上升/n.爬;攀登 slipping:n.滑动/adj.渐渐松弛的/v.滑动(slip的现在分词)with respect:怀有敬意 fluid:adj.流动的;流畅的;不固定的/n.流体;液体 paddle:n.划桨;明轮翼/vt.拌;搅;用桨划/vi.划桨;戏水;涉水The same is true when we looked at th

47、is lizard running onfluidized sand.当我观察蜥蜴在流态化的沙子上移动时，结果相同。11:01Watch its feet.看它的脚。11:05Its actually functioning as a paddle even though itsinteracting with a surface that we normally think of as asolid.事实上它起到了桨的作用。即使它接触的表面通常被我们认为是固体。11:07This is not different from what my former undergraduate这与我以前的

48、一个本科生学生所发现的没有什么不同 当她发现蜥蜴是如何在水面上行走的。11:15This is not different from what my former undergraduatediscovered when she figured out how lizards can run onwater itself.同 当她发现蜥蜴是如何在水面上行走的。11:15Can you use this to make a better robot?可以利用这个制造更好的机器人吗？11:25Martin Buehler did-whos now at Boston Dynamics-hetook

49、 this idea and made RHex to be Aqua RHex.马丁?比埃勒进行了尝试他现在在波士顿动力公司 他采用了这个点子并将RHex改造为Aqua RHex。11:30So heres RHex with paddles,now converted into anincredibly maneuverable swimming robot.所以RHex有了蹚水的桨，现在被改造为不可思议且操纵灵活的游泳机器人了。11:38For rough surfaces,though,animals add claws.然而对于粗糙的表面，动物为自己添加了爪子。11:46And yo

50、u probably feel them if you grabbed it.当你抓住它们时应该能感觉到这些爪子。11:49lizard:n.蜥蜴;类蜥蜴爬行动物 functioning:n.运行,运作;计功能;机能;起酌(function的动名词)/v.运行,起作用(function的现在分词形式)interacting:n.相互作用;相互制约/v.互相影响;互相作用(interact的ing形式)run on:继续,继续下去;连续不断;流逝;涉及 Dynamics:n.动力学,力学 Aqua:n.水;溶液;浅绿色/adj.浅绿色的 paddles:n.船桨(paddle的复数);划浆/v.