I have a feeling most people in this room would like to have a robot at home. It would be nice to be able to do the chores（杂务） and take care of things. Where are these robots? What's taking so long? I mean, we have our tricorders and we have satellites（卫星）. We have laser（激光） beams（梁）.

  But where are the robots? I mean, okay（好）, wait, we do have some robots in our home. But not really doing anything that exciting, okay? Now, I've been doing research at UC Berkeley for 30 years with my students on robots. And in the next 10 minutes, I'm going to try to explain the gap between fiction and reality. Now, we've seen images like this, right?

  These are real robots. They're pretty amazing. But those of us who work（使工作） in the field, well, the reality is more like this. That's 99 out of 100 times. That's what happens. And in the field, there's something that explains this that we call Moravex paradox（似非而是的论点）.

  And that is what's easy for robots, like being able to pick up a large object, large heavy object, is hard for humans. But what's easy for humans, like being able to pick up some blocks and stack（堆积） them, well, it turns out that is very hard for robots. And this is a persistent（固执的） problem. So the ability to grasp（抓紧） arbitrary（任意的） objects is a grand（宏伟的） challenge for my field. Now, by the way, I was a very klutzy kid. I would drop things.

  Any time someone would throw me a ball, I would drop it. I was the last kid to get picked on the basketball team. I'm still pretty klutzy, actually. But I have spent my entire（全部的） career studying how to make robots less clumsy. Now, let's start with the hardware（五金器具）. So the hands.

  Now, this is a robot hand, a particular type of hand. It's a lot like our hand. And it has a lot of motors（发动机）, a lot of tendons（[解剖] 腱） and cables（缆）, as you can see. So it's, unfortunately, not very reliable. It's also very heavy and very expensive. So I'm in favor of very simple hands like this.

  So this has just two fingers. It's known as a parallel（平行的） jaw gripper. So it's very simple. It's lightweight（轻量级选手） and reliable, and it's very inexpensive. And if you're doubting that simple hands can be effective, look at this video where you can see that two very simple grippers, these are being operated（操作） by the way by humans who are controlling the grippers like a puppet（木偶）, but very simple grippers are capable（有能力的） of doing very complex things. And if you're still skeptical（怀疑的） about that, remember that every day, half the people on the planet use very simple grippers to pick up complex, slippery（滑的）, deformable objects very effectively.

  Now, actually, in industry, there's even a simpler robot gripper, and that's the suction cup, and that only makes a single point of contact. So, again, simplicity（简单） is very helpful in our field. Now, let's talk about the software. This is where it gets really, really difficult because of a fundamental（基本的） issue, which is uncertainty（无常）. There's uncertainty in the control, there's uncertainty in the perception（理解感知）, and there's uncertainty in the physics. Now, what do I mean by the control?

  Well, if you look at a robot's gripper trying to do something, there's a lot of uncertainty in the cables and the mechanisms（机制） that cause very small errors, and these can accumulate（积聚） and make it very difficult to manipulate（操纵） things. Now, in terms of the sensors（传感器）, yes, robots have very high-resolution（坚决） cameras just like we do, and that allows them to take images of scenes in traffic or in a retirement（退休） center or in a warehouse（ 仓库） or in an operating room, but these don't give you the three-dimensional（空间的） structure of what's going on.