國智清創雄安機器人研究院
點擊關注，查看相關內容
英文版正文1629字，
預計閱讀時長5分鐘
中文版正文587字，
預計閱讀時長3分鐘
As far as we know, the universe does not have a desperate need for robot puppeteers, and considering the difficulty of making even a halfway decent robot puppeteer, you』d think that any sensible roboticist would keep well clear of the problem. But some folks over at ETH Zurich decided that they』d have a crack at it anyway, and they started by describing why they』d likely be better off if they hadn’t:
Marionettes are underactuated, high-dimensional, highly non-linear coupled pendulum systems. They are driven by gravity, the tension forces generated by a small number of cables, and the internal forces arising from mechanical articulation constraints. As such, the map between the actions of a puppeteer and the motions performed by the marionette is notoriously unintuitive, and mastering this unique art form takes unfaltering dedication and a great deal of practice. Our goal is to enable autonomous robots to animate marionettes with a level of skill that approaches that of human puppeteers.
就目前情況來看，我們似乎還並不需要機器人木偶大師，考慮到製作一個不錯的機器人木偶師的難度，恐怕任何明智的機器人專家都會儘量避開這個領域。但是蘇黎世ETH的一些人決定無論如何他們都會嘗試一下，他們首先描述了為什麼如果他們沒有這樣做，他們可能會更好：
木偶是缺乏驅動、高維、高度非線性的耦合擺系統。它們由重力、少量電纜產生的張力以及機械連接約束產生的內力驅動。因此，木偶演員的動作和木偶演員的動作之間的映射是眾所周知的非直覺的，掌握這種獨特的藝術形式需要不斷的奉獻和大量的實踐。我們的目標是使自主機器人能夠以接近人類木偶師的水平來製作木偶動畫。
The ETH Zurich project can’t yet animate a complex marionette, but it’s a respectable showing with the dragon, I think. As input, all the robot needs to know is the design of the puppet at the target motion you want the puppet to make. While moving the puppet in real life, the robot is continuously simulating its motions over the next second while iteratively optimizing to try to get the puppet to move the way it’s supposed to.
蘇黎世ETH項目還不能製作複雜的木偶，但我認為這是一個值得尊敬的行為。作為輸入端，機器人需要知道的只是木偶在你想要木偶做的目標運動中的設計。在現實生活中移動木偶時，機器人在接下來的一秒鐘內不斷地模擬它的動作，同時不斷地進行優化，試圖讓木偶按照預期的方式移動。
Their long term goal is to enable robots to manipulate various types of complex physical systems – clothing, soft parcels in warehouses or stores, flexible sheets and cables in hospitals or on construction sites, plush toys or bedding in our homes, etc – as skillfully as humans do. We believe the technical framework we have set up for robotic puppeteering will also prove useful in beginning to address this very important grand-challenge.
他們的長期目標是希望機器人能夠像人類一樣熟練地操作各種複雜的物理系統——衣服、倉庫或商店中的軟包裹、醫院或建築工地中的柔性床單和電纜、家中的毛絨玩具或床上用品等。我們相信，我們現在為木偶製作機器人而建立的技術框架，一定會在未來應對這些技術難點時用上。
聲明
本文素材來源於網絡，由國智清創雄安機器人研究院（ID:xionganir）翻譯編輯，不代表國智清創雄安機器人研究院立場，轉載請註明，如涉及作品版權問題，請聯繫我們刪除或做相關處理！
編譯：J<4
編輯：Zero