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人形機器人把腳換成輪子會怎樣？美國機器人公司波士頓動力（Boston Dynamics）11 月 9 日在官方部落格公開一段影片，旗下人形機器人 Atlas 的雙腳被換成了輪子，在地上滑來滑去、甩尾，還能跳起來轉 360 度，畫面很像在溜直排輪。
EN What happens when a humanoid robot’s feet become wheels? On November 9, American robot company Boston Dynamics shared a video on its official blog. The feet of its humanoid robot, Atlas, were replaced with wheels. It slides around, drifts, and can even jump and spin 360 degrees. It looks a lot like inline skating.
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圖片來源：Boston Dynamics
寫這篇部落格的是 Atlas 團隊的控制工程師吳曉宇（Xiaoyu “Andy” Wu）。他說，有輪子的 Atlas 不是新產品，而是一個研究平台。團隊想要一個讓馬達長時間同時承受高扭力和高速度的情境，「用輪子移動剛好完美符合，每一次起步、轉彎和停下，都會讓馬達跑遍整個扭力和速度範圍。」
EN The blog was written by Xiaoyu “Andy” Wu, a controls engineer on the Atlas team. He said the wheeled Atlas is not a new product but a research platform. The team wanted a situation where the motors handle high torque and high speed at the same time for a long time. “Wheeled movement fits perfectly. Every start, turn and stop makes the motors use their full range of torque and speed.”
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只多一個零件，換輪子像換腳踏車輪胎
吳曉宇說，改裝本身「簡單得令人開心」：只用一個客製化的轉接零件，把市面上買得到的滑板車輪圈裝到原本的腳踝馬達上，這也是整個改裝唯一的新零件。因為 Atlas 一開始就是以大量生產、容易維修為目標設計的，換上輪子的難度大概就跟換腳踏車輪子差不多。
EN Wu said the change itself was “delightfully simple.” With only one custom adapter part, store-bought scooter wheels were attached to the existing ankle motors. That was the only new part in the whole project. Because Atlas was designed from the start for mass production and easy repair, adding wheels is about as easy as changing bicycle wheels.
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軟體方面，每個輪子只被當成一個可以一直轉動的「腳踝」，再用模擬環境做全身強化學習訓練，訓練好的控制方式搬到真正的機器人上，幾乎可以完美運作。影片裡的 360 度轉身跳，其實是用真人跳躍的動作捕捉資料訓練出來的，「第一次試就成功了」。
EN For the software, each wheel was treated as an “ankle” that can keep turning. The team then used whole-body reinforcement learning in simulation. When the trained control was moved to the real robot, it worked almost perfectly. The 360-degree spin jump in the video was trained with motion capture data from real human jumps, and “it worked on the first try.”
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韓國聯合新聞通訊社在 YouTube 上整理了 Atlas 換上輪子滑行的畫面：
EN South Korea’s Yonhap News Agency shared a video on YouTube of Atlas rolling on wheels.
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※ 若影片沒有中文字幕，可點播放器右下角的齒輪 → 字幕 → 自動翻譯 → 中文（繁體）。
「就像在玩電動」，工程師連遊戲機都不碰了
吳曉宇在影片中說：「輪子其實不是重點，重點是把我們的馬達推到極限。」不過他也坦白，能用輪子開著機器人四處甩尾滑行，「就像在玩電動遊戲，真的很好玩。做這個專案的這段時間，我完全沒碰過我的電競電腦，因為做這個好玩多了。」
EN In the video, Wu said, “The wheels are not really the point. The point is to push our motors to their limits.” But he also admitted that driving the robot around and drifting on wheels is “like playing a video game. It is really fun. During this project, I didn’t touch my gaming PC at all, because this was much more fun.”
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影片裡還有一招「橫向衝刺」，機器人跳起來往左、往右滑。吳曉宇說，如果是用腳，只能靠腳在地上滑動完成，他很好奇訓練會產生什麼結果，沒想到 AI 自己學會了在衝刺時利用輪子滾動，讓他很驚喜。他接下來想研究，當某個馬達故障時，強化學習能不能讓機器人自己想出應變的動作。
EN The video also shows a “side dash,” where the robot jumps and slides left and right. Wu said that with feet, it could only slide its feet on the ground. He was curious about what training would produce, and he was surprised that the AI learned by itself to use the rolling wheels during the dash. Next, he wants to study whether reinforcement learning can help the robot find its own way to move when one of its motors breaks.
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精選單字
humanoid /ˈhjuːmənɔɪd/ 人形的；類人的
torque /tɔːrk/ 扭力
adapter /əˈdæptər/ 轉接零件
reinforcement learning /ˌriːɪnˈfɔːrsmənt ˈlɜːrnɪŋ/ 強化學習
simulation /ˌsɪmjəˈleɪʃən/ 模擬
motion capture /ˈmoʊʃən ˈkæptʃər/ 動作捕捉
drift /drɪft/ 甩尾；滑移
admit /ədˈmɪt/ 承認；坦白
資料來源：Boston Dynamics、The Robot Report、The Verge、연합뉴스 Yonhap News／YouTube
