{ "meta": { "title": "History of Robotics", "titleEn": "History of Robotics", "subtitle": "机器人学编年史 · 从神话自动机到具身智能", "subtitleEn": "A Chronicle — From Mythic Automata to Embodied Intelligence", "lead": "三千年来，人类不断尝试把生命的运动从血肉之躯中剥离出来——先借齿轮与弹簧，再借电路与代码，如今又借神经网络。这份编年史按八个时代追踪机器人从神话与玩具一路演化为工厂主力、服务伙伴乃至具身通用智能的轨迹。每个里程碑都附原始来源，便于追溯与延伸阅读。", "leadEn": "For three thousand years humanity has tried to lift the motions of life out of flesh — first with gears and springs, then with circuits and code, now with neural networks. This chronicle traces robotics across eight eras, from myth and toy to factory workhorse, household companion and embodied general intelligence. Every milestone is anchored to a primary source.", "issue": "Vol. I", "updated": "2026-05-23", "license": "CC BY 4.0" }, "ui": { "zh": { "contents": "Contents · 编目", "events": "事件", "sources": "引用源", "span": "时间跨度", "spanValue": "~2700 年", "updated": "最后更新", "primary_nav_home": "首页", "primary_nav_data": "数据", "primary_nav_people": "人物", "primary_nav_methods": "方法与来源", "edition": "EDITION · 2026.05", "license": "LICENSE", "rail_foot": "本编年史所有图像出处见图说；所有事件附原始来源。", "chart_lead": "下图整理工业机器人 30 年安装量曲线与近五年通用人形机器人公司单轮融资规模。前者反映自动化进入实体经济的深度，后者反映 AI 模型成熟后资本对'具身智能'的下注节奏。数据均出自国际机器人联合会（IFR）World Robotics 报告或公开融资公告。", "chart_section": "从一台 Unimate 到每年 55 万台", "chart_eyebrow": "DATA · 数据", "people_section": "把机器人推向现实的少数派", "people_eyebrow": "DRAMATIS PERSONAE · 关键人物", "methods_section": "资料来源与编纂原则", "methods_eyebrow": "METHODOLOGY · 方法", "methods_para_1": "本编年史按以下原则编纂：（1）所有事件优先引用原始来源——公司官方网站、专利数据库、学术论文、博物馆藏品；（2）次级来源限于同行评议或编辑流程明确的媒体：IEEE Spectrum、Nature、Science、MIT Technology Review、Reuters、Bloomberg、NYT；（3）图片采用 Wikimedia Commons / NASA / 各公司官方 公共领域或 CC 授权图，文件路径采用稳定的 Special:FilePath 重定向；（4）凡涉及商业承诺或预测，明确标注'展望'并附预测主体与日期。", "methods_para_2": "技术上，本站为纯静态单页站点：HTML / CSS / 原生 JS，无构建步骤，时间线数据存储于 /data/timeline.json，便于贡献者通过 Pull Request 增补事件。视觉风格：Fraunces 衬线作正文与标题、Bricolage Grotesque 作品牌字、JetBrains Mono 作数据与代码、Noto Serif SC 作中文衬线。", "methods_para_3": "欢迎在 GitHub 提交修正、补充事件或本地化翻译。", "methods_sources_head": "主要参考机构与平台", "hero_kicker": "A CHRONICLE · 编年史 · EIGHT ERAS · 八个时代", "hero_title": "从神殿、工厂、家庭
到具身的通用智能", "footer_left": "© 2026 · History of Robotics ·
内容采用 CC BY 4.0 协议。
欢迎引用、翻译与二次创作，请保留来源。", "footer_right": "github.com/deyuf/history-of-robot", "lang_toggle": "EN", "era_eyebrow": "ERA" }, "en": { "contents": "Contents", "events": "Events", "sources": "Sources", "span": "Span", "spanValue": "~2,700 years", "updated": "Updated", "primary_nav_home": "Top", "primary_nav_data": "Data", "primary_nav_people": "People", "primary_nav_methods": "Method & Sources", "edition": "EDITION · 2026.05", "license": "LICENSE", "rail_foot": "Image provenance is given in each caption; every event has a primary source.", "chart_lead": "Two charts: thirty years of industrial robot installations, and selected fundraises of general-purpose humanoid robot companies. The first measures the depth of automation in the physical economy; the second tracks capital's commitment to 'embodied intelligence' once foundation models matured. Both rely on the IFR World Robotics report or public funding announcements.", "chart_section": "From One Unimate to 550,000 a Year", "chart_eyebrow": "DATA", "people_section": "The Few Who Pushed Robots Into the Real World", "people_eyebrow": "DRAMATIS PERSONAE", "methods_section": "Sources & Editorial Principles", "methods_eyebrow": "METHODOLOGY", "methods_para_1": "Editorial principles: (1) Every event cites a primary source first — company sites, patent databases, peer-reviewed papers, museum holdings; (2) Secondary sources are limited to peer-reviewed or editorially-vetted outlets: IEEE Spectrum, Nature, Science, MIT Technology Review, Reuters, Bloomberg, NYT; (3) Images are pulled from Wikimedia Commons / NASA / official company releases under public domain or CC licenses, via stable Special:FilePath redirects; (4) Forward-looking statements are flagged explicitly with their source and date.", "methods_para_2": "Technically the site is a pure static SPA — HTML / CSS / vanilla JS, no build step. Timeline data lives in /data/timeline.json so contributors can add events through a pull request. Typography stack: Fraunces serif for body and display, Bricolage Grotesque for brand, JetBrains Mono for data and code, Noto Serif SC for Chinese typography.", "methods_para_3": "Pull requests welcome: corrections, additions, or localizations.", "methods_sources_head": "Reference institutions and platforms", "hero_kicker": "A CHRONICLE · EIGHT ERAS", "hero_title": "From the Temple, the Factory, and the Home
to Embodied General Intelligence", "footer_left": "© 2026 · History of Robotics ·
Content released under CC BY 4.0.
Cite, translate and remix freely with attribution.", "footer_right": "github.com/deyuf/history-of-robot", "lang_toggle": "中文", "era_eyebrow": "ERA" } }, "eras": [ { "id": "era-1-automata", "number": "01", "title": "神话与自动机", "titleEn": "Mythic Automata", "range": "公元前 ~ 1700", "rangeEn": "Antiquity – 1700", "lead": "机器人的史前史不在工厂，而在神殿、宫廷与匠人的工坊。古希腊的青铜守护者塔罗斯、亚历山大里亚的水力剧场、阿拉伯黄金时代的自动喷泉，到日本江户的端茶人偶——'机械生命'的想象远早于'机器人'一词。", "leadEn": "The prehistory of robotics belongs not to the factory but to the temple, the court and the craftsman's workshop. From the bronze guardian Talos to Hero's hydraulic theatre in Alexandria, from al-Jazari's elephant clocks to Edo karakuri tea-servers — the imagination of 'mechanical life' long predates the word 'robot'.", "events": [ { "year": "~700 BCE", "title": "塔罗斯：希腊神话的青铜巨人", "titleEn": "Talos: the Bronze Giant of Greek Myth", "desc": "赫淮斯托斯锻造的青铜自动人偶，守卫克里特岛、绕岛巡行三圈/日，被视为西方文献中最早的'机器人'原型。", "descEn": "Forged by Hephaestus, the bronze automaton Talos circled Crete three times a day to repel intruders — the earliest 'robot' in Western literature.", "sources": [ { "label": "Britannica · Talos", "url": "https://www.britannica.com/topic/Talos-Greek-mythology" }, { "label": "Mayor · Gods and Robots (Princeton UP, 2018)", "url": "https://press.princeton.edu/books/hardcover/9780691183510/gods-and-robots" } ], "image": { "file": "Vaso_di_Talos_particolare.JPG", "credit": "Talos krater, c. 400 BCE, Ruvo di Puglia (CC-BY-SA)", "alt": "Greek vase painting of Talos" } }, { "year": "~50 CE", "title": "希罗的自动剧场", "titleEn": "Hero's Automatic Theatre", "desc": "亚历山大里亚的工程师 Hero（Heron）著《Automata》，描述用配重、绳索与凸轮驱动的自动门、自鸣鸟与可移动剧场——被视为机械程序设计的雏形。", "descEn": "The Alexandrian engineer Hero (Heron) wrote 'Automata', describing weighted ropes and cams driving self-opening doors, chirping birds and a mobile mechanical theatre — an early form of mechanical programming.", "sources": [ { "label": "Britannica · Heron of Alexandria", "url": "https://www.britannica.com/biography/Heron-of-Alexandria" }, { "label": "Wikipedia · Hero of Alexandria", "url": "https://en.wikipedia.org/wiki/Hero_of_Alexandria" } ], "image": { "file": "Heron_Alexandrie.jpg", "credit": "Hero of Alexandria, 9th-c. codex (Public domain)", "alt": "Hero of Alexandria portrait" } }, { "year": "1206", "title": "Al-Jazari《精巧机械装置的知识之书》", "titleEn": "Al-Jazari's Book of Ingenious Devices", "desc": "美索不达米亚工程师 Ismail al-Jazari 描述自动洗手装置、可编程音乐机器人船与水钟，引入凸轮轴、曲柄连杆与可程序化打击乐手，被誉为机器人学的先驱。", "descEn": "The Mesopotamian engineer Ismail al-Jazari described automated hand-washers, a programmable musical boat and the elephant clock — introducing the camshaft, the crank-connecting rod and reprogrammable drummers. A founding pioneer of robotics.", "sources": [ { "label": "Wikipedia · al-Jazari", "url": "https://en.wikipedia.org/wiki/Ismail_al-Jazari" }, { "label": "Smithsonian · elephant clock", "url": "https://www.si.edu/object/elephant-clock%3Anmah_1100186" } ], "image": { "file": "Al-jazari_elephant_clock.png", "credit": "Al-Jazari's Elephant Clock, 1206 manuscript (Public domain)", "alt": "Al-Jazari's Elephant Clock manuscript illustration" } }, { "year": "~1495", "title": "达·芬奇的机械骑士", "titleEn": "Leonardo's Mechanical Knight", "desc": "Leonardo da Vinci 设计了一台可坐起、挥臂、张颌的机械人形，由滑轮与齿轮驱动；1957 年学者 Carlo Pedretti 从其笔记中重建，2002 年 NASA 工程师 Mark Rosheim 完成可工作复制品。", "descEn": "Leonardo da Vinci sketched a humanoid automaton that could sit, wave its arms and open its jaw, driven by pulleys and gears. Carlo Pedretti reconstructed the design from his notebooks in 1957; NASA engineer Mark Rosheim built a working replica in 2002.", "image": { "file": "Leonardo-Robot3.jpg", "credit": "Reconstruction of Leonardo's mechanical knight", "alt": "Leonardo da Vinci's mechanical knight" }, "sources": [ { "label": "BBC News · Da Vinci robot reconstructed", "url": "http://news.bbc.co.uk/2/hi/science/nature/2218663.stm" }, { "label": "Rosheim · Leonardo's Lost Robots (Springer, 2006)", "url": "https://link.springer.com/book/10.1007/3-540-28497-1" } ] }, { "year": "1738", "title": "Vaucanson 的消化鸭", "titleEn": "Vaucanson's Digesting Duck", "desc": "法国发明家 Jacques de Vaucanson 在巴黎展出三件自动机：吹笛者、击鼓人与镀金'消化鸭'。鸭子可拍翅、饮水、进食并'排泄'——虽为机巧把戏，却轰动整个欧洲启蒙时代。", "descEn": "Jacques de Vaucanson displayed three automata in Paris: a flute player, a tambourine player and a gilded 'digesting duck' that flapped, drank, ate and excreted. The trick (the food never reached the bowels) thrilled Enlightenment Europe.", "image": { "file": "Vaucanson_Automata.jpg", "credit": "Vaucanson's three automata, 19th-c. engraving", "alt": "Vaucanson's automata engraving" }, "sources": [ { "label": "Britannica · Vaucanson", "url": "https://www.britannica.com/biography/Jacques-de-Vaucanson" }, { "label": "Riskin · The Defecating Duck (Critical Inquiry, 2003)", "url": "https://www.journals.uchicago.edu/doi/10.1086/377722" } ] }, { "year": "1774", "title": "Jaquet-Droz 三人偶", "titleEn": "Jaquet-Droz Androids", "desc": "Pierre Jaquet-Droz 父子在瑞士拉绍德封制作三具自动人偶——作家、画师、音乐家。'作家'含 6,000 余件零件，可通过更换字模书写任意 40 字以内文本，被视为现代可编程机的祖先。", "descEn": "Pierre Jaquet-Droz and his sons built three androids in La Chaux-de-Fonds — a writer, draughtsman and musician. The Writer, with over 6,000 parts, could be reprogrammed to write any text up to 40 characters — an ancestor of the programmable machine.", "sources": [ { "label": "Musée d'Art et d'Histoire de Neuchâtel", "url": "https://www.mahn.ch/en/jaquet-droz-androids" }, { "label": "Smithsonian Magazine · 18th-c. automatons", "url": "https://www.smithsonianmag.com/innovation/three-automatons-amazed-18th-century-still-do-180970462/" } ], "image": { "file": "Automates-Jaquet-Droz-p1030493.jpg", "credit": "Jaquet-Droz automata (Neuchâtel), photo by Rama (CC-BY-SA 2.0)", "alt": "Jaquet-Droz writing automaton" } }, { "year": "1796", "title": "日本江户的 karakuri 茶人偶", "titleEn": "Karakuri Tea-Serving Doll (Edo Japan)", "desc": "细川半藏《機巧図彙》图解端茶机关人偶（茶運び人形）：以鲸鬚发条与凸轮驱动，托盘受重时启动、放下茶杯后回转——是日本机械传统的代表。", "descEn": "Hosokawa Hanzō's 'Karakuri Zui' illustrated the tea-carrying doll: whalebone springs and cams launch the doll when a cup is placed on its tray and reverse it when the cup is removed — the canonical artefact of Japan's mechanical tradition.", "image": { "file": "TeaAutomatAndMechanism.jpg", "credit": "Karakuri tea-serving doll & mechanism, National Museum of Nature and Science", "alt": "Karakuri tea-serving doll" }, "sources": [ { "label": "Waseda University · Karakuri Zui archive", "url": "https://www.wul.waseda.ac.jp/kotenseki/html/ya09/ya09_00065/index.html" }, { "label": "Wikipedia · Karakuri puppet", "url": "https://en.wikipedia.org/wiki/Karakuri_puppet" } ] } ] }, { "id": "era-2-pre-industrial", "number": "02", "title": "工业前夜与'机器人'诞生", "titleEn": "Pre-Industrial Mechanization & the Word 'Robot'", "range": "1700 – 1939", "rangeEn": "1700 – 1939", "lead": "工业革命为机器人输入了第一种通用驱动力：蒸汽，再到电；同时也输入了第一种通用语言：穿孔卡。Jacquard 的织机让物理装置接受'程序'输入；Babbage 用同样的纸带去驱动计算。1920 年捷克剧作家恰佩克写下'robot'一词，这场技术革命终于有了名字。", "leadEn": "The Industrial Revolution gave robotics its first general-purpose motive power — steam, then electricity — and its first general-purpose language: the punch card. Jacquard fed programs into looms; Babbage fed the same tape into computation. In 1920 Karel Čapek finally named the revolution that was already under way.", "events": [ { "year": "1801", "title": "Jacquard 提花织机", "titleEn": "The Jacquard Loom", "desc": "Joseph-Marie Jacquard 在里昂展示由穿孔卡控制经线的织机，使复杂图案的纺织从匠人记忆中解放出来。这是第一台被广泛部署的'可编程'机器，启发了 Babbage、Hollerith 与现代计算机。", "descEn": "Joseph-Marie Jacquard showed off a loom whose warp was steered by punched cards. The first widely deployed 'programmable' machine, it inspired Babbage, Hollerith and the modern computer.", "image": { "file": "A_Jacquard_loom_showing_information_punchcards,_National_Museum_of_Scotland.jpg", "credit": "Jacquard loom & punchcards, National Museum of Scotland", "alt": "Jacquard loom & punchcards" }, "sources": [ { "label": "Britannica · Jacquard loom", "url": "https://www.britannica.com/technology/Jacquard-loom" }, { "label": "Computer History Museum", "url": "https://computerhistory.org/blog/the-jacquard-loom-a-driver-of-the-industrial-revolution/" } ] }, { "year": "1822 / 1837", "title": "Babbage 差分机与分析机", "titleEn": "Babbage's Difference & Analytical Engines", "desc": "Charles Babbage 设计差分机（1822）以多项式逼近自动制表；后扩展为图灵完备的分析机（1837），含存储、处理与穿孔卡输入。Ada Lovelace 为其撰写算法笔记，被誉为首位程序员。", "descEn": "Charles Babbage designed the Difference Engine (1822) to tabulate polynomials, then the Turing-complete Analytical Engine (1837) — store, processor and punched-card input. Ada Lovelace wrote its first algorithmic notes and is recognised as history's first programmer.", "image": { "file": "Babbage_Difference_Engine.jpg", "credit": "Babbage Difference Engine No. 2, Science Museum London", "alt": "Babbage Difference Engine" }, "sources": [ { "label": "Science Museum London · Babbage's Engines", "url": "https://www.sciencemuseum.org.uk/objects-and-stories/charles-babbages-difference-engines" }, { "label": "Computer History Museum · Babbage", "url": "https://www.computerhistory.org/babbage/" } ] }, { "year": "1898", "title": "Tesla 的无线操控艇", "titleEn": "Tesla's Wireless Teleautomaton", "desc": "Nikola Tesla 在麦迪逊广场花园用无线电控制一艘小型船模，被认为是首个公开演示的遥控机械（teleautomaton）。Tesla 称之为'借光的机械人'。", "descEn": "Nikola Tesla steered a model boat in Madison Square Garden by radio — arguably the first public demonstration of remote-controlled machinery. He called it a 'teleautomaton'.", "sources": [ { "label": "IEEE Spectrum · Tesla's electric boat", "url": "https://spectrum.ieee.org/nikola-tesla-and-his-electric-boat" }, { "label": "Tesla Memorial Society", "url": "https://www.teslasociety.com/teleautomaton.htm" } ], "image": { "file": "Tesla_boat1.jpg", "credit": "Tesla's radio-controlled boat, 1898 (Public domain)", "alt": "Tesla wireless teleautomaton boat" } }, { "year": "1920", "title": "'Robot' 一词诞生：恰佩克《R.U.R.》", "titleEn": "The Word 'Robot' is Born: Čapek's R.U.R.", "desc": "捷克剧作家 Karel Čapek 在剧本《罗素姆万能机器人》（Rossum's Universal Robots）中首次使用 robot 一词，源自捷克语 robota（强制劳动）；剧中的机器人系生物合成，最终反抗人类。", "descEn": "Czech playwright Karel Čapek coined 'robot' in 'Rossum's Universal Robots', from the Czech 'robota' (forced labour). The play's bioengineered robots rise against humanity — the field's foundational anxiety in a nutshell.", "image": { "file": "Karel-capek.jpg", "credit": "Karel Čapek, c. 1920s", "alt": "Karel Čapek portrait" }, "sources": [ { "label": "Britannica · R.U.R.", "url": "https://www.britannica.com/topic/RUR" }, { "label": "Penguin · R.U.R. & Other Plays", "url": "https://www.penguinrandomhouse.com/books/107253/rur-and-the-insect-play-by-karel-capek/" } ] }, { "year": "1927", "title": "Metropolis 的 Maschinenmensch", "titleEn": "Metropolis and the Maschinenmensch", "desc": "Fritz Lang 电影《大都会》中的机械玛利亚（Maschinenmensch）成为流行文化里首个广为人知的人形机器人形象，确立了'银色金属女性'的视觉原型，并直接影响后世从 C-3PO 到《银翼杀手》的设计。", "descEn": "Fritz Lang's 'Metropolis' gave popular culture its first widely-recognised humanoid robot — the silver Maschinenmensch — establishing a visual template that runs straight through C-3PO to Blade Runner.", "sources": [ { "label": "MoMA · Metropolis (1927)", "url": "https://www.moma.org/collection/works/91211" }, { "label": "BFI · Why Metropolis matters", "url": "https://www.bfi.org.uk/features/why-metropolis-matters" } ], "image": { "file": "Horst_von_Harbou_-_Metropolis_Maschinenmensch.jpg", "credit": "Metropolis Maschinenmensch, photo by Horst von Harbou (Public domain)", "alt": "Metropolis film still of the Maschinenmensch" } }, { "year": "1928", "title": "Eric：英国首个会说话的机器人", "titleEn": "Eric — Britain's First Speaking Robot", "desc": "工程师 W. H. Richards 与 A. H. Reffell 制造的人形 Eric 在伦敦模特表演协会展出，能起立、挥手、应答简单语音。2016 年伦敦科学博物馆众筹复原。", "descEn": "Engineers W. H. Richards and A. H. Reffell built Eric, a humanoid that could stand, wave and respond to simple speech, for a 1928 Model Engineers exhibition. The Science Museum crowdfunded a replica in 2016.", "sources": [ { "label": "Science Museum · Eric the robot", "url": "https://www.sciencemuseum.org.uk/objects-and-stories/meet-eric-uks-first-robot" } ], "image": { "file": "Eric_the_Robot_(32822317725).jpg", "credit": "Eric the Robot rebuild, Science Museum London (CC-BY 2.0)", "alt": "Eric the Robot historical reconstruction" } }, { "year": "1939", "title": "Elektro：西屋会抽烟的机器人", "titleEn": "Elektro the Westinghouse Moto-Man", "desc": "西屋电气在纽约世博会展出 2.1 米高的 Elektro，可走动、识别 700 余条语音指令、'抽'香烟；次年加入机器狗 Sparko，成为电气时代'家用机器人'的乌托邦想象。", "descEn": "Westinghouse unveiled the 2.1-metre Elektro at the 1939 New York World's Fair. It walked, recognised 700-plus voice commands and 'smoked' cigarettes; the dog Sparko joined a year later. The pair embodied the electric age's domestic-robot fantasy.", "sources": [ { "label": "Smithsonian · Elektro the Moto-Man", "url": "https://www.smithsonianmag.com/history/last-meet-elektro-180962290/" }, { "label": "Mansfield Memorial Museum · Elektro", "url": "https://www.themansfieldmuseum.com/elektro.html" } ], "image": { "file": "Senator_John_Heinz_History_Center_-_IMG_7802.JPG", "credit": "Elektro at Senator John Heinz History Center (Public domain)", "alt": "Elektro the Westinghouse Moto-Man" } } ] }, { "id": "era-3-cybernetics", "number": "03", "title": "控制论与第一代机器人", "titleEn": "Cybernetics & the First Generation", "range": "1940 – 1972", "rangeEn": "1940 – 1972", "lead": "二战之后，反馈、信息、控制成为新的通用语言。Wiener 的《控制论》把生物与机器置于同一框架；Asimov 写下三定律；Devol 与 Engelberger 把第一台可编程机械臂送上 GM 装配线；SRI 让 Shakey 成为首个能感知、推理与行动的移动机器人。机器人从想象与玩具，正式进入现实工厂与实验室。", "leadEn": "After the Second World War, feedback, information and control emerged as a new lingua franca. Wiener's 'Cybernetics' put animal and machine into one frame; Asimov wrote down the three laws; Devol and Engelberger put the first programmable arm on a GM assembly line; SRI's Shakey became the first mobile robot that could perceive, plan and act. Robotics graduated from imagination and toy into the factory and the lab.", "events": [ { "year": "1942", "title": "Asimov 的机器人三定律", "titleEn": "Asimov's Three Laws of Robotics", "desc": "Isaac Asimov 在短篇《Runaround》中首次完整提出'机器人三定律'：不得伤害人类；服从人类命令；保护自身。三定律此后成为机器人伦理讨论的事实起点。", "descEn": "In 'Runaround' Isaac Asimov first stated the Three Laws — do not harm a human, obey humans, protect yourself — which became the de facto starting point for every later debate about machine ethics.", "image": { "file": "Isaac.Asimov01.jpg", "credit": "Isaac Asimov, photo by Phillip Leonian", "alt": "Isaac Asimov portrait" }, "sources": [ { "label": "Britannica · Three Laws of Robotics", "url": "https://www.britannica.com/topic/Three-Laws-of-Robotics" }, { "label": "Asimov · I, Robot (1950)", "url": "https://www.penguinrandomhouse.com/books/4422/i-robot-by-isaac-asimov/" } ] }, { "year": "1948", "title": "Wiener《控制论》", "titleEn": "Wiener's Cybernetics", "desc": "MIT 数学家 Norbert Wiener 出版《Cybernetics: or Control and Communication in the Animal and the Machine》，把负反馈、稳定性与信息论统一为一门新学科——为后续所有自主系统提供理论框架。", "descEn": "MIT mathematician Norbert Wiener published 'Cybernetics: or Control and Communication in the Animal and the Machine', unifying negative feedback, stability and information theory into a new discipline — and giving every later autonomous system its theoretical scaffold.", "image": { "file": "Norbert_Wiener.png", "credit": "Norbert Wiener at MIT", "alt": "Norbert Wiener portrait" }, "sources": [ { "label": "MIT Press · Cybernetics", "url": "https://mitpress.mit.edu/9780262730099/cybernetics/" }, { "label": "Britannica · Cybernetics", "url": "https://www.britannica.com/science/cybernetics" } ] }, { "year": "1948–49", "title": "Grey Walter 的'海龟'", "titleEn": "Grey Walter's Tortoises", "desc": "英国神经生理学家 W. Grey Walter 在布里斯托制造 Elmer 与 Elsie——两台仅含两只'神经元'的轮式机器，却能趋光、避障并自动回充电站，被视为首批表现出类生命行为的自主机器人。", "descEn": "British neurophysiologist W. Grey Walter built Elmer and Elsie in Bristol — two wheeled machines with just two 'neurons' that nonetheless sought light, avoided obstacles and returned to charge. Arguably the first autonomous robots to display life-like behaviour.", "sources": [ { "label": "Holland · Grey Walter, pioneer of artificial life", "url": "https://www.cs.bris.ac.uk/Publications/Papers/2000114.pdf" }, { "label": "Smithsonian · tortoise robots", "url": "https://americanhistory.si.edu/collections/object/nmah_1054344" } ], "image": { "file": "Walter's_Tortoise.jpg", "credit": "Grey Walter's tortoise robot (Wikimedia)", "alt": "Grey Walter robotic tortoise" } }, { "year": "1954", "title": "Devol 的可编程机械臂专利", "titleEn": "Devol's Programmable Article Transfer Patent", "desc": "George Devol 申请 'Programmed Article Transfer' 专利（US 2988237，1961 授权），通过磁鼓记忆数控关节运动——这是第一台真正意义上的可编程工业机器人。", "descEn": "George Devol filed for the 'Programmed Article Transfer' patent (US 2988237, granted 1961), storing joint motions on a magnetic drum — the first genuinely programmable industrial robot.", "sources": [ { "label": "USPTO · US 2988237A", "url": "https://patents.google.com/patent/US2988237A/en" }, { "label": "Automate.org · George Devol bio", "url": "https://www.automate.org/robotics/engelberger/george-devol-bio" } ], "image": { "file": "George_C_Devol_Color_Photo.jpg", "credit": "George Devol, inventor of the Unimate patent (CC-BY-SA 3.0)", "alt": "George Devol portrait" } }, { "year": "1956", "title": "Engelberger × Devol 创立 Unimation", "titleEn": "Engelberger & Devol Found Unimation", "desc": "工程师 Joseph Engelberger 在一场鸡尾酒会上偶遇 Devol，决心把其专利商业化。两人合伙创立 Unimation——世界第一家机器人公司。Engelberger 后被尊为'机器人之父'。", "descEn": "Engineer Joseph Engelberger met Devol at a cocktail party and decided to commercialise the patent. Together they founded Unimation, the world's first robotics company. Engelberger would be remembered as the 'father of industrial robotics'.", "sources": [ { "label": "IEEE Spectrum · Father of robotics", "url": "https://spectrum.ieee.org/joseph-engelberger-father-of-industrial-robotics" }, { "label": "Britannica · Joseph Engelberger", "url": "https://www.britannica.com/biography/Joseph-F-Engelberger" } ] }, { "year": "1961", "title": "Unimate 入驻 GM 装配线", "titleEn": "Unimate Joins the GM Line", "desc": "新泽西州 Trenton 的通用汽车工厂部署首台 Unimate 机械臂，从冲压机里抓取高温压铸件——人类工厂迎来第一台真正干活的工业机器人。", "descEn": "General Motors' plant in Trenton, NJ deployed the first Unimate arm, lifting red-hot die-cast parts from a press. The industrial robot finally went to work.", "image": { "file": "Unimate_pouring_coffee_for_a_woman_at_Biltmore_Hotel,_1967.jpg", "credit": "Unimate at Biltmore Hotel demo, 1967 — Frank Q. Brown / LA Times / UCLA", "alt": "Unimate industrial arm" }, "sources": [ { "label": "IEEE · Robotics history", "url": "https://www.ieee.org/about/news/2018/robotics-and-automation/joseph-engelberger.html" }, { "label": "Automate.org · Unimate timeline", "url": "https://www.automate.org/a3-content/joseph-engelberger-unimate" } ] }, { "year": "1966", "title": "SRI 的 Shakey", "titleEn": "SRI's Shakey", "desc": "斯坦福研究所（SRI）启动 Shakey 项目，1972 年完成。它是首个能感知（视觉/触觉/测距）、规划（STRIPS 规划器）并行动的移动机器人，奠定 AI 与机器人结合的研究范式。", "descEn": "SRI International began Shakey in 1966, finishing in 1972. The first mobile robot able to perceive (vision, touch, rangefinding), plan (the STRIPS planner) and act in one loop — the founding template for AI-and-robotics.", "image": { "file": "SRI_Shakey_robot,_1969,_Computer_History_Museum.jpg", "credit": "Shakey at the Computer History Museum, photo by The wub", "alt": "Shakey robot" }, "sources": [ { "label": "SRI International · Shakey", "url": "https://www.sri.com/hoi/shakey-the-robot/" }, { "label": "IEEE Milestone · Shakey", "url": "https://ethw.org/Milestones:Shakey:_The_World%E2%80%99s_First_Mobile_Intelligent_Robot,_1972" } ] }, { "year": "1969", "title": "Stanford Arm 与 WAVE 编程语言", "titleEn": "Stanford Arm and the WAVE Language", "desc": "Victor Scheinman 在斯坦福设计 Stanford Arm——首款全电驱、计算机控制的 6 自由度机械臂；同年学生 Richard Paul 写出 WAVE，世界首个机器人编程语言。", "descEn": "Victor Scheinman designed the Stanford Arm — the first fully electric, computer-controlled six-DOF arm. The same year student Richard Paul wrote WAVE, the world's first robot programming language.", "sources": [ { "label": "Stanford CS · early robotics", "url": "https://cs.stanford.edu/people/eroberts/courses/soco/projects/2008-09/robotics/early.html" }, { "label": "IEEE Spectrum · Victor Scheinman obituary", "url": "https://spectrum.ieee.org/victor-scheinman-pioneering-roboticist-dies-at-73" } ], "image": { "file": "The_Stanford_Arm.jpg", "credit": "Victor Scheinman's Stanford Arm (CC-BY 2.0)", "alt": "Stanford Arm — Scheinman's electric 6-DOF arm" } }, { "year": "1970", "title": "Stanford Cart", "titleEn": "The Stanford Cart", "desc": "Stanford AI Lab 的有线遥控小车被改造为视觉自主车，Hans Moravec 1979 年完成它的著名'5 小时穿越实验室'，奠定视觉里程计与障碍物地图（occupancy grid）思想。", "descEn": "The Stanford AI Lab converted a tethered radio-controlled cart into a vision-driven autonomous vehicle. Hans Moravec's famous 1979 'five-hour traverse' established visual odometry and the occupancy grid.", "sources": [ { "label": "Moravec · The Stanford Cart and CMU Rover", "url": "https://www.ri.cmu.edu/pub_files/pub4/moravec_hans_p_1983_1/moravec_hans_p_1983_1.pdf" }, { "label": "Computer History Museum · Stanford Cart", "url": "https://www.computerhistory.org/collections/catalog/102710857" } ] } ] }, { "id": "era-4-industrial", "number": "04", "title": "工业机器人的崛起", "titleEn": "The Rise of Industrial Robotics", "range": "1973 – 1995", "rangeEn": "1973 – 1995", "lead": "1970 年代，西欧与日本同时启动工业机器人化进程。KUKA、ABB、FANUC、Yaskawa、Kawasaki 拉开'四大家族'的序幕；日本汽车业把机器人密度推向世界第一。形状服从功能：六轴关节、SCARA、Delta 三种构型在十年内各自诞生，并主导工业机器人至今。", "leadEn": "The 1970s saw industrial robotisation start almost simultaneously in Western Europe and Japan. KUKA, ABB, FANUC, Yaskawa and Kawasaki took the stage; Japanese automotive density became the global benchmark. Form followed function — the six-axis articulated arm, SCARA and Delta configurations all emerged within a single decade and still dominate the floor.", "events": [ { "year": "1973", "title": "KUKA Famulus：全电驱六轴", "titleEn": "KUKA Famulus — First Fully Electric Six-Axis", "desc": "德国 KUKA 推出 Famulus，全球首台带 6 个机电驱动轴的工业机器人。德国与瑞典此后成为欧洲机器人的双中心。", "descEn": "Germany's KUKA released the Famulus, the world's first industrial robot with six electromechanically-driven axes. Germany and Sweden became Europe's twin robotics centres.", "sources": [ { "label": "KUKA · company history", "url": "https://www.kuka.com/en-de/about-kuka/history" }, { "label": "IFR · World Robotics 2023", "url": "https://ifr.org/img/uploads/Executive_Summary_WR_2023.pdf" } ], "image": { "file": "KUKA_Industrial_Robots_IR.jpg", "credit": "KUKA industrial robots, characteristic orange livery (CC-BY-SA 3.0)", "alt": "KUKA industrial robots" } }, { "year": "1973", "title": "Wabot-1：日本首台人形", "titleEn": "Wabot-1 — Japan's First Humanoid", "desc": "早稻田大学加藤一郎团队发布 WABOT-1，可双足慢速行走、用机械手抓物、并能识别简单语音。这是世界第一台'仿人'（anthropomorphic）机器人。", "descEn": "Waseda University's Kato Ichiro group unveiled WABOT-1 — capable of slow bipedal walking, simple grasping and elementary speech recognition. The world's first anthropomorphic robot.", "sources": [ { "label": "Waseda · WABOT history", "url": "https://www.humanoid.waseda.ac.jp/booklet/kato_2.html" }, { "label": "IEEE Spectrum · Honda humanoid history", "url": "https://spectrum.ieee.org/honda-asimo-history" } ] }, { "year": "1974", "title": "ASEA IRB 6：首台微处理器控制", "titleEn": "ASEA IRB 6 — First Microprocessor-Controlled Robot", "desc": "瑞典 ASEA（今 ABB）推出 IRB 6——首款全电驱、由微处理器控制的工业机器人，主要用于抓取与抛光。今天仍在博物馆展出可工作样机。", "descEn": "Sweden's ASEA (now ABB) launched the IRB 6 — the first all-electric, microprocessor-controlled industrial robot, used for picking and polishing. A working unit is still on display at the company museum.", "sources": [ { "label": "ABB · 50 years of robotics", "url": "https://new.abb.com/products/robotics/about-us/history" }, { "label": "IFR · 50 years of industrial robots", "url": "https://ifr.org/post/50-years-of-industrial-robots" } ] }, { "year": "1977", "title": "Star Wars 与 R2-D2 / C-3PO", "titleEn": "Star Wars: R2-D2 and C-3PO", "desc": "George Lucas 的《星球大战》上映，R2-D2 与 C-3PO 让机器人成为电影主角而非反派。机器人形象与公众感受从此被流行文化深度塑造。", "descEn": "George Lucas released Star Wars; R2-D2 and C-3PO turned robots into protagonists, not antagonists. Pop culture's grip on public perception of robotics has not loosened since.", "sources": [ { "label": "Smithsonian · Star Wars droids", "url": "https://airandspace.si.edu/stories/editorial/star-wars-droids" } ] }, { "year": "1978", "title": "PUMA：Programmable Universal Machine for Assembly", "titleEn": "PUMA — Programmable Universal Machine for Assembly", "desc": "Unimation 与 GM、Vicarm 合作开发 PUMA 系列——首款专为装配设计的轻型电驱机械臂。其控制器 VAL 语言成为机器人编程经典，PUMA 也成为高校实验室标配。", "descEn": "Unimation, GM and Vicarm co-developed the PUMA family — the first lightweight electric arm designed for assembly. Its VAL controller language became a robot-programming classic and PUMA itself the lab-standard arm for a generation.", "image": { "file": "Puma_Robotic_Arm_-_GPN-2000-001817.jpg", "credit": "PUMA robotic arm at NASA — public domain", "alt": "PUMA arm" }, "sources": [ { "label": "IEEE-RAS · PUMA history", "url": "https://www.ieee-ras.org/about-ras/ras-history/2010-pioneer-and-award" }, { "label": "Smithsonian · PUMA 200", "url": "https://americanhistory.si.edu/collections/object/nmah_879135" } ] }, { "year": "1979", "title": "SCARA 构型问世", "titleEn": "SCARA Configuration Invented", "desc": "山梨大学牧野洋教授提出 SCARA（Selective Compliance Assembly Robot Arm）——柔顺方向在水平面、刚性方向在垂直方向，专为电子装配优化。1981 年由 Sankyo Seiki 商业化，至今仍是 PCB 与 SMT 产线主力。", "descEn": "Yamanashi University's Hiroshi Makino proposed SCARA (Selective Compliance Assembly Robot Arm) — compliant in the horizontal plane, rigid in the vertical, optimised for electronics assembly. Sankyo Seiki commercialised it in 1981 and SCARAs still rule PCB and SMT lines.", "sources": [ { "label": "Yamanashi U. · Hiroshi Makino", "url": "https://www.yamanashi.ac.jp/en/4137" }, { "label": "IFR · types of robots", "url": "https://ifr.org/post/the-different-types-of-robots" } ], "image": { "file": "SCARA_robot_2R.png", "credit": "SCARA configuration diagram (CC-BY-SA 4.0)", "alt": "SCARA robot mechanism diagram" } }, { "year": "1984", "title": "Adept Technology 与 Delta 并联机器人", "titleEn": "Adept Technology & the Delta Parallel Robot", "desc": "瑞士 EPFL Reymond Clavel 发明 Delta 并联机构（三条平行连杆共享末端执行器），高速、轻量，主导食品与药品分拣；1999 年其工业版由 ABB 商用为 FlexPicker。", "descEn": "EPFL's Reymond Clavel invented the Delta parallel mechanism — three parallel linkages sharing a single end-effector, light and very fast, ideal for food and pharma picking. ABB productised it as the FlexPicker in 1999.", "sources": [ { "label": "EPFL · Delta robot history", "url": "https://infoscience.epfl.ch/record/53908" }, { "label": "ABB · FlexPicker", "url": "https://new.abb.com/products/robotics/parallel-robots" } ], "image": { "file": "Sketchy,_portrait-drawing_delta_robot.jpg", "credit": "Delta parallel robot drawing portraits (CC-BY-SA 3.0)", "alt": "Delta parallel robot in action" } }, { "year": "1986", "title": "Honda 启动秘密人形项目 E0", "titleEn": "Honda Begins the Secret E-Series Humanoid Project", "desc": "本田技术研究所启动'P 系列'之前的代号 E0–E6 项目，研究双足行走，10 年后首次公开 P2，震惊业界。", "descEn": "Honda R&D launched the secret E0–E6 program to study bipedal locomotion. Ten years later it stunned the industry by going public with P2.", "sources": [ { "label": "Honda · ASIMO history", "url": "https://global.honda/en/innovation/robotics/ASIMO/history.html" } ] }, { "year": "1989", "title": "MIT Genghis：行为主义机器人学", "titleEn": "MIT's Genghis — Behavior-Based Robotics", "desc": "Rodney Brooks 团队在 MIT AI Lab 制造六足昆虫机器人 Genghis，用'subsumption architecture'放弃集中式规划，从此开辟反应式（behavior-based）机器人学派——直接影响后来的 iRobot 与 Boston Dynamics。", "descEn": "Rodney Brooks' MIT lab built the six-legged Genghis, replacing central planning with a 'subsumption architecture' — founding the behavior-based school of robotics that would later inform iRobot and Boston Dynamics.", "sources": [ { "label": "Brooks · A Robust Layered Control System (1986)", "url": "https://people.csail.mit.edu/brooks/papers/Brooks86.pdf" }, { "label": "MIT CSAIL · Brooks papers", "url": "https://people.csail.mit.edu/brooks/papers/AIM-1227.pdf" } ] } ] }, { "id": "era-5-mobility-humanoids", "number": "05", "title": "移动机器人与人形复兴", "titleEn": "Mobility & Humanoid Revival", "range": "1996 – 2010", "rangeEn": "1996 – 2010", "lead": "1996 年 Honda 揭开 P2 的面纱——一台能自主上下楼梯的成人尺寸人形机器人，成为人形复兴的起点。Sony AIBO 让机器人走入家庭；iRobot Roomba 让机器人开始挣钱；Boston Dynamics 教会四足机器人在野外站稳；DARPA 系列挑战赛把自驾车从科幻推到 405 号高速。", "leadEn": "In 1996 Honda unveiled P2 — an adult-scale humanoid that climbed stairs on its own — and the humanoid revival was on. Sony AIBO put a robot in the living room; iRobot's Roomba turned robotics into a real business; Boston Dynamics taught quadrupeds to stand up in the wild; the DARPA challenges dragged self-driving cars from science-fiction onto Interstate 405.", "events": [ { "year": "1996", "title": "Honda P2：首次公开亮相", "titleEn": "Honda P2 — The Unveiling", "desc": "P2 是 Honda 秘密研发 11 年后首度公开的人形原型：182 cm、210 kg，可独立行走、上楼、推车。震惊业界，标志高动态人形从研究变为工程命题。", "descEn": "P2 was Honda's first public humanoid after eleven years of secret R&D: 182 cm, 210 kg, walking unaided, climbing stairs, pushing a cart. The industry was stunned; high-dynamic humanoids became an engineering proposition, not just a research one.", "sources": [ { "label": "Honda · ASIMO history (P-Series)", "url": "https://global.honda/en/innovation/robotics/ASIMO/history.html" }, { "label": "IEEE Spectrum · 25 years of Honda humanoids", "url": "https://spectrum.ieee.org/honda-asimo-history" } ], "image": { "file": "Honda_P2_front_Honda_Collection_Hall.jpg", "credit": "Honda P2 at the Honda Collection Hall, photo by Morio (CC-BY-SA 3.0)", "alt": "Honda P2 humanoid robot, 1996" } }, { "year": "1997", "title": "Sojourner 在火星", "titleEn": "Sojourner on Mars", "desc": "NASA Pathfinder 任务的 Sojourner 火星车着陆 Ares Vallis，是首台在另一颗行星表面运行的轮式机器人，开启 21 世纪行星机器人时代。", "descEn": "NASA Pathfinder's Sojourner rover landed in Ares Vallis — the first wheeled robot to operate on another planet, opening the modern era of planetary robotics.", "image": { "file": "PIA16149_MSL_Curiosity_Rover_Self_Portrait_colour_correction.jpg", "credit": "Curiosity rover self-portrait, NASA/JPL-Caltech/MSSS (public domain)", "alt": "NASA Mars rover" }, "sources": [ { "label": "NASA JPL · Mars Pathfinder", "url": "https://www.jpl.nasa.gov/missions/mars-pathfinder/" } ] }, { "year": "1997", "title": "Deep Blue 击败 Kasparov", "titleEn": "Deep Blue Defeats Kasparov", "desc": "IBM 的国际象棋专用机以 3.5–2.5 击败世界冠军 Kasparov——虽非传统'机器人'，却以决定性方式改变公众对机器决策能力的认知，并推动 AI 在机器人规划中的应用。", "descEn": "IBM's chess engine beat world champion Garry Kasparov 3.5–2.5. Not a robot in the strict sense, but a turning point in public perception of machine decision-making — and a fillip for AI-driven planning in robotics.", "sources": [ { "label": "IBM Research · Deep Blue", "url": "https://www.ibm.com/history/deep-blue" } ], "image": { "file": "Deep_Blue.jpg", "credit": "IBM Deep Blue at the Computer History Museum (CC-BY 2.0)", "alt": "IBM Deep Blue chess machine" } }, { "year": "1999", "title": "Sony AIBO 上市", "titleEn": "Sony AIBO Goes on Sale", "desc": "Sony 发布机器狗 AIBO ERS-110，售价 25 万日元，3,000 台 20 分钟售罄。AIBO 是首个面向大众市场的娱乐机器人；其 RoboCup Standard Platform 也推动多代研究。", "descEn": "Sony released the AIBO ERS-110 at ¥250,000; the initial 3,000 units sold out in 20 minutes. AIBO was the first mass-market entertainment robot and, as the RoboCup Standard Platform, a research workhorse for years.", "image": { "file": "Aibo_ERS-7.PNG", "credit": "Sony AIBO ERS-7, photo by Stuart Caie", "alt": "Sony AIBO robot dog" }, "sources": [ { "label": "Sony · AIBO official history", "url": "https://www.sony.net/SonyInfo/CorporateInfo/History/SonyHistory/2-15.html" }, { "label": "IEEE Spectrum · AIBO at 20", "url": "https://spectrum.ieee.org/sony-aibo-20-years-later" } ] }, { "year": "2000", "title": "ASIMO 揭幕", "titleEn": "ASIMO Unveiled", "desc": "Honda 在 P3 基础上重新设计、推出 130 cm 高、52 kg 的 ASIMO（Advanced Step in Innovative Mobility）。它能跑、踢球、握手、识别脸——成为此后 20 年人形机器人的代名词，直至 2018 年项目终结。", "descEn": "Honda redesigned the P3 into the 130 cm, 52 kg ASIMO (Advanced Step in Innovative Mobility). It could run, kick a ball, shake hands and recognise faces — the public face of humanoid robotics for two decades until the project's 2018 retirement.", "image": { "file": "Honda_ASIMO_(ver._2011)_2011_Tokyo_Motor_Show.jpg", "credit": "ASIMO (2011 ver.) at Tokyo Motor Show, photo by Morio", "alt": "Honda ASIMO humanoid" }, "sources": [ { "label": "Honda · ASIMO official", "url": "https://global.honda/en/innovation/robotics/ASIMO/" }, { "label": "Reuters · Honda retires ASIMO", "url": "https://www.reuters.com/article/us-honda-asimo-idUSKBN1JS0WB" } ] }, { "year": "2002", "title": "iRobot Roomba 上市", "titleEn": "iRobot Roomba Goes on Sale", "desc": "MIT Genghis 学派创始人 Colin Angle 与 Rodney Brooks 旗下 iRobot 推出 199 美元的扫地机器人 Roomba。它是第一个真正大规模商业化的家用机器人——今天累计销量已超过 5,000 万台。", "descEn": "Colin Angle and Rodney Brooks (of MIT's Genghis line) shipped a $199 vacuuming robot. Roomba was the first genuinely mass-market consumer robot — cumulative sales now exceed 50 million units.", "image": { "file": "Roomba_original.jpg", "credit": "Original iRobot Roomba, 2002", "alt": "iRobot Roomba" }, "sources": [ { "label": "iRobot · history", "url": "https://www.irobot.com/about-irobot/company-information/history" }, { "label": "Wired · How Roomba was made", "url": "https://www.wired.com/2003/04/iRobot/" } ] }, { "year": "2004", "title": "Spirit & Opportunity 登陆火星", "titleEn": "Spirit & Opportunity Land on Mars", "desc": "NASA 的双火星探测车着陆。原定 90 火星日的 Opportunity 实际运行 14 年 138 火星日，行驶 45.16 公里——是机器人户外长时自主任务的纪录持有者。", "descEn": "NASA's twin rovers landed on Mars. Designed for 90 sols, Opportunity ran for 14 years and 138 sols, covering 45.16 km — the record holder for long-duration outdoor autonomous robotics.", "sources": [ { "label": "NASA JPL · Mars Exploration Rovers", "url": "https://mars.nasa.gov/mer/" } ], "image": { "file": "Mars_Exploration_Rover.jpg", "credit": "Mars Exploration Rover, NASA/JPL/Cornell (Public domain)", "alt": "NASA Mars Exploration Rover" } }, { "year": "2005", "title": "DARPA Grand Challenge：Stanley 夺冠", "titleEn": "DARPA Grand Challenge — Stanley Wins", "desc": "斯坦福 Sebastian Thrun 带队的改装大众途锐 'Stanley' 在莫哈韦沙漠完成 132 英里全自动驾驶，赢得 200 万美元。这场比赛点燃了硅谷自动驾驶热潮，催生 Waymo、Cruise、Aurora 等公司。", "descEn": "Sebastian Thrun's Stanford team won the $2M Grand Challenge with 'Stanley', a modified VW Touareg that drove 132 miles across the Mojave Desert unaided. The race lit the fuse on Silicon Valley's autonomous-driving boom — Waymo, Cruise, Aurora all trace their lineage here.", "image": { "file": "Stanley2.JPG", "credit": "Stanley — Stanford Racing Team winning vehicle, 2005", "alt": "Stanley autonomous vehicle" }, "sources": [ { "label": "DARPA · Grand Challenge", "url": "https://www.darpa.mil/about-us/timeline/-grand-challenge-for-autonomous-vehicles" }, { "label": "Stanford Racing · Stanley paper", "url": "https://web.archive.org/web/20180520061450/http://robots.stanford.edu/papers/thrun.stanley05.pdf" } ] }, { "year": "2005", "title": "Boston Dynamics BigDog", "titleEn": "Boston Dynamics' BigDog", "desc": "DARPA 资助、MIT 出身的 Boston Dynamics 发布四足液压机器人 BigDog，可在雪地、碎石与冰面上保持平衡，第一次让公众看到'像动物一样动'的机器。", "descEn": "DARPA-funded, MIT-spun-off Boston Dynamics unveiled the hydraulic quadruped BigDog. It balanced on snow, scree and ice — the first time the public saw a robot that moved like an animal.", "image": { "file": "Big_dog_military_robots.jpg", "credit": "BigDog robot, DARPA / U.S. Marine Corps (public domain)", "alt": "Boston Dynamics BigDog quadruped" }, "sources": [ { "label": "DARPA · BigDog", "url": "https://www.darpa.mil/about-us/timeline/big-dog" }, { "label": "Boston Dynamics · legged robots", "url": "https://www.bostondynamics.com/about" } ] }, { "year": "2007", "title": "DARPA Urban Challenge", "titleEn": "DARPA Urban Challenge", "desc": "卡内基梅隆的 Boss（Tartan Racing）赢得首届城市自动驾驶挑战赛——车辆在交通规则下与其它无人车共存。Chris Urmson（后任 Waymo CTO/Aurora CEO）由此进入 Google 自动驾驶项目。", "descEn": "CMU's Tartan Racing won the first urban-driving challenge with 'Boss', navigating traffic rules alongside other autonomous vehicles. Chris Urmson (later Waymo CTO, Aurora CEO) made his entry into Google's self-driving project from here.", "sources": [ { "label": "CMU Tartan Racing · Boss", "url": "https://www.tartanracing.org/" }, { "label": "DARPA · Urban Challenge", "url": "https://www.darpa.mil/about-us/timeline/darpa-urban-challenge" } ] }, { "year": "2008", "title": "ROS 诞生", "titleEn": "ROS is Born", "desc": "Willow Garage 的 Brian Gerkey、Morgan Quigley 与 Eric Berger 发布 Robot Operating System，并配套硬件平台 PR2。ROS 在十年内统一了学界与产业的机器人软件栈，是机器人领域的 'Linux 时刻'。", "descEn": "Willow Garage's Brian Gerkey, Morgan Quigley and Eric Berger shipped the Robot Operating System, alongside the PR2 hardware. ROS unified academia and industry's robotics software stack within a decade — robotics' Linux moment.", "sources": [ { "label": "Open Robotics · history of ROS", "url": "https://www.openrobotics.org/blog/2019/4/19/the-history-of-ros" }, { "label": "ROS.org", "url": "https://www.ros.org/" } ] }, { "year": "2010", "title": "DLR LWR III → KUKA LBR iiwa", "titleEn": "DLR LWR III → KUKA LBR iiwa", "desc": "德国宇航中心 DLR 把空间手臂 LWR 技术授权给 KUKA，2013 年商用为 LBR iiwa——首款拥有 7 自由度与全关节力矩传感的轻型协作机械臂，开启了 cobot 时代。", "descEn": "Germany's DLR licensed its space-grade LWR arm technology to KUKA; the LBR iiwa, launched in 2013, became the first lightweight collaborative arm with seven DOF and torque sensing at every joint — opening the cobot era.", "sources": [ { "label": "DLR · LWR robotic arm", "url": "https://www.dlr.de/en/research-and-transfer/projects-and-missions/lwr" }, { "label": "KUKA · LBR iiwa", "url": "https://www.kuka.com/en-us/products/robotics-systems/industrial-robots/lbr-iiwa" } ] } ] }, { "id": "era-6-service-cobots", "number": "06", "title": "服务、协作与仓储机器人", "titleEn": "Service, Collaborative & Warehouse Robots", "range": "2008 – 2017", "rangeEn": "2008 – 2017", "lead": "工业机器人在围栏内呆了 50 年；2008 年后，安全停机扭矩、关节力矩感知与机器视觉让它们走出栅栏。Universal Robots、Rethink Robotics 与 KUKA iiwa 把'人机协作'变成产品类别；Kiva 用 8.75 亿美元被 Amazon 收购，重写了仓储经济学；外科手术机器人 da Vinci 在十年内安装到 7,000 套以上。", "leadEn": "Industrial robots had stayed inside their cages for fifty years; after 2008, safe stopping torque, joint-torque sensing and machine vision let them step out. Universal Robots, Rethink and KUKA's iiwa turned 'collaboration' into a product category; Kiva's $775M sale to Amazon rewrote warehouse economics; da Vinci surgical systems crossed 7,000 installs within the decade.", "events": [ { "year": "2008", "title": "Universal Robots UR5", "titleEn": "Universal Robots UR5", "desc": "丹麦 Odense 大学衍生公司 Universal Robots 推出 UR5——18 kg 重、5 kg 负载、可徒手示教编程、可在无围栏环境与人协作。UR 系列开启 'cobot' 类别，2015 年被 Teradyne 以 2.85 亿美元收购。", "descEn": "Danish Odense University spin-off Universal Robots launched the UR5 — 18 kg arm, 5 kg payload, hand-guided programming, safe to work alongside humans without a cage. The UR line defined the 'cobot' category; Teradyne acquired UR for $285M in 2015.", "sources": [ { "label": "Universal Robots · history", "url": "https://www.universal-robots.com/about-universal-robots/our-history/" }, { "label": "IFR · cobots explained", "url": "https://ifr.org/post/cobots-collaborative-robots-explained" } ] }, { "year": "2009", "title": "Google 启动自动驾驶项目", "titleEn": "Google Starts Its Self-Driving Project", "desc": "Sebastian Thrun 与 Anthony Levandowski 创立 Google Chauffeur 项目（后更名 Waymo）。他们雇佣 DARPA 挑战赛七支队伍的核心成员，把研究原型推向规模化。", "descEn": "Sebastian Thrun and Anthony Levandowski founded Google Chauffeur (later Waymo), recruiting key engineers from seven DARPA-challenge teams to scale research prototypes into production.", "sources": [ { "label": "Waymo · our journey", "url": "https://waymo.com/journey/" } ] }, { "year": "2011", "title": "Robonaut 2 进入国际空间站", "titleEn": "Robonaut 2 Goes to the ISS", "desc": "NASA 与 GM 联合开发的 Robonaut 2 由 STS-133 送入 ISS，是首个进入太空的人形机器人，主要从事 IVA 辅助实验。", "descEn": "Jointly developed by NASA and GM, Robonaut 2 launched on STS-133 — the first humanoid robot in space, used for intravehicular activity experiments aboard the ISS.", "sources": [ { "label": "NASA · Robonaut 2", "url": "https://www.nasa.gov/mission_pages/station/main/robonaut.html" } ], "image": { "file": "Robonaut2_-_first_movement_aboard_ISS.jpg", "credit": "Robonaut 2 aboard the ISS, NASA (Public domain)", "alt": "NASA Robonaut 2 on the ISS" } }, { "year": "2011", "title": "Watson 击败 Jeopardy! 冠军", "titleEn": "Watson Wins at Jeopardy!", "desc": "IBM Watson 击败 Ken Jennings 与 Brad Rutter，展示自然语言问答系统的实用性，启发后续把对话理解集成进机器人的尝试。", "descEn": "IBM Watson defeated Ken Jennings and Brad Rutter, demonstrating that natural-language Q&A was practical and inspiring later attempts to integrate conversational understanding with robots.", "sources": [ { "label": "IBM Research · Watson", "url": "https://www.ibm.com/history/watson-jeopardy" } ], "image": { "file": "IBM_Watson.PNG", "credit": "IBM Watson, photo by Clockready (CC-BY-SA 3.0)", "alt": "IBM Watson on the Jeopardy! stage" } }, { "year": "2012", "title": "Kiva 系统被 Amazon 收购", "titleEn": "Amazon Acquires Kiva Systems", "desc": "Amazon 以 7.75 亿美元收购 Kiva Systems。橙色 AGV 把货架运到工人面前，颠覆仓储拣选流程。2015 年部门更名 Amazon Robotics，截至 2024 年部署超过 75 万台移动机器人。", "descEn": "Amazon acquired Kiva Systems for $775M. The orange AGVs that brought shelves to workers rewrote warehouse-picking economics. Renamed Amazon Robotics in 2015, the division had deployed over 750,000 mobile robots by 2024.", "sources": [ { "label": "Amazon · 10 years of Amazon Robotics", "url": "https://www.aboutamazon.com/news/operations/amazon-robotics-celebrates-10-years" }, { "label": "WSJ · Inside Amazon Robotics", "url": "https://www.wsj.com/articles/inside-the-rise-of-amazons-robot-armada-11643980028" } ] }, { "year": "2012", "title": "Rethink Robotics 推出 Baxter", "titleEn": "Rethink Robotics Launches Baxter", "desc": "Rodney Brooks 创办的 Rethink Robotics 发布 22,000 美元的双臂机器人 Baxter，主打小批量、低混线工厂。虽 2018 年公司清算，Baxter 仍是 cobot 概念的开山之作。", "descEn": "Rodney Brooks' Rethink Robotics shipped Baxter, a $22,000 dual-arm cobot aimed at low-mix manufacturing. The company liquidated in 2018, but Baxter remains a foundational artefact of the cobot concept.", "sources": [ { "label": "MIT Tech Review · Baxter", "url": "https://www.technologyreview.com/2012/09/18/183586/this-robot-could-transform-manufacturing/" }, { "label": "TechCrunch · Rethink shuts down", "url": "https://techcrunch.com/2018/10/03/rethink-robotics-shuts-down/" } ], "image": { "file": "Caught_Coding_(9690512888).jpg", "credit": "Rethink Robotics Baxter — photo by Steve Jurvetson (CC-BY 2.0)", "alt": "Rethink Robotics Baxter dual-arm cobot" } }, { "year": "2013", "title": "Google 一口气收购 8 家机器人公司", "titleEn": "Google Buys Eight Robotics Companies in a Quarter", "desc": "Andy Rubin 主导，Google 在数月内收购 Boston Dynamics、Schaft、Industrial Perception、Meka、Redwood Robotics、Bot & Dolly、Holomni、Autofuss——史称'Replicant 项目'。三年后多数公司被剥离或出售。", "descEn": "Under Andy Rubin, Google acquired Boston Dynamics, Schaft, Industrial Perception, Meka, Redwood Robotics, Bot & Dolly, Holomni and Autofuss within months — the 'Replicant' project. Most were spun out or sold within three years.", "sources": [ { "label": "NYT · Google acquires Boston Dynamics", "url": "https://www.nytimes.com/2013/12/14/technology/google-adds-to-its-menagerie-of-robots.html" }, { "label": "Bloomberg · Google's robot dream collapses", "url": "https://www.bloomberg.com/news/articles/2016-03-17/google-puts-boston-dynamics-up-for-sale" } ] }, { "year": "2013", "title": "Da Vinci Si 与外科机器人扩张", "titleEn": "Da Vinci Si and the Surgical-Robot Build-Out", "desc": "Intuitive Surgical 的 da Vinci Si 全球累计安装超 3,000 套；2013 年成为该公司装机量突破 3,000 的里程碑。微创外科机器人从泌尿、妇科扩展至普外、心脏与胸外科。", "descEn": "Intuitive Surgical's da Vinci Si crossed 3,000 cumulative installs in 2013, expanding minimally-invasive robotic surgery from urology and gynaecology into general, cardiac and thoracic procedures.", "image": { "file": "Cmglee_Cambridge_Science_Festival_2015_da_Vinci.jpg", "credit": "da Vinci Surgical System at Cambridge Science Festival, photo by Cmglee", "alt": "da Vinci surgical robot" }, "sources": [ { "label": "Intuitive Surgical · company history", "url": "https://www.intuitive.com/en-us/about-us/company" }, { "label": "Annals of Surgery · 20 years of da Vinci", "url": "https://journals.lww.com/annalsofsurgery/Citation/2018/01000/Twenty_Years_of_Robotic_Surgery.10.aspx" } ] }, { "year": "2013–2015", "title": "DARPA Robotics Challenge", "titleEn": "DARPA Robotics Challenge", "desc": "为应对福岛核事故启动的人形灾难救援赛。Atlas、CHIMP、HUBO、Schaft 等机器人尝试开车、开门、用工具。2015 年韩国 KAIST 的 DRC-HUBO 夺冠——比赛中无数'摔倒视频'被广泛传播。", "descEn": "Triggered by Fukushima, the DRC challenged humanoids to drive cars, open doors and use power tools. KAIST's DRC-HUBO won in 2015. The competition is best remembered for its viral compilation of falling-robot footage.", "sources": [ { "label": "DARPA · Robotics Challenge", "url": "https://www.darpa.mil/about-us/timeline/darpa-robotics-challenge" }, { "label": "IEEE Spectrum · DRC final results", "url": "https://spectrum.ieee.org/results-of-the-darpa-robotics-challenge-finals" } ], "image": { "file": "Atlas_frontview_2013.jpg", "credit": "Boston Dynamics Atlas at the DRC, DARPA (Public domain)", "alt": "Boston Dynamics Atlas humanoid for the DARPA Robotics Challenge" } }, { "year": "2015", "title": "首例机器人辅助乘用车自驾事故", "titleEn": "First Robotic-Assist Vehicle Crashes", "desc": "Tesla Autopilot 7.0 发布；同年与次年内连续发生多起 Autopilot 介入事故，引发首轮关于'人在回路'与法律责任的全球辩论。", "descEn": "Tesla released Autopilot 7.0; a string of Autopilot-involved crashes that year and the next ignited the first global debate over human-in-the-loop responsibility and the law.", "sources": [ { "label": "NHTSA · Tesla Autopilot investigation", "url": "https://www.nhtsa.gov/press-releases/nhtsa-opens-investigation-tesla-autopilot" } ] }, { "year": "2016", "title": "AlphaGo 击败李世石", "titleEn": "AlphaGo Defeats Lee Sedol", "desc": "DeepMind 的 AlphaGo 以 4-1 击败围棋世界冠军李世石；强化学习与自我对弈的成功直接启发 OpenAI Dactyl 与 Sim-to-Real 在机器人操作中的大规模应用。", "descEn": "DeepMind's AlphaGo beat Go world champion Lee Sedol 4–1. The success of self-play and reinforcement learning directly inspired OpenAI's Dactyl and the broader push of sim-to-real into robotic manipulation.", "sources": [ { "label": "DeepMind · AlphaGo", "url": "https://deepmind.google/research/breakthroughs/alphago/" } ] }, { "year": "2017", "title": "Boston Dynamics 'Backflip' 视频", "titleEn": "Boston Dynamics' Atlas Backflip Video", "desc": "Atlas 完成倒立后空翻。视频在 24 小时内播放过 1,500 万次，让公众认知到液压人形已具备类体操运动员的动力学性能。", "descEn": "Atlas pulled off a clean backflip. The video drew 15 million views in 24 hours and made it widely understood that hydraulic humanoids now matched a gymnast's dynamics.", "sources": [ { "label": "Boston Dynamics · Atlas backflip", "url": "https://www.youtube.com/watch?v=fRj34o4hN4I" } ], "image": { "file": "Atlas_climbing_into_a_vehicle.jpg", "credit": "Boston Dynamics Atlas climbing into a vehicle, DARPA (Public domain)", "alt": "Boston Dynamics Atlas humanoid in action" } } ] }, { "id": "era-7-deep-learning", "number": "07", "title": "深度学习革命", "titleEn": "The Deep Learning Revolution", "range": "2017 – 2022", "rangeEn": "2017 – 2022", "lead": "2012 年 AlexNet 重启深度学习，但其在机器人上的全面渗透发生在 2017 年之后：视觉抓取的大规模数据集（Dex-Net、ACRV）、Sim-to-Real 政策迁移（OpenAI Dactyl 还原魔方）、基于 Transformer 的语言-动作策略（RT-1/RT-2）。机器人不再依赖手写控制规则，而是从经验中学习。", "leadEn": "AlexNet rebooted deep learning in 2012, but its arrival in robotics was a 2017+ story: large-scale grasp datasets (Dex-Net, ACRV), sim-to-real policy transfer (OpenAI's Dactyl solving a Rubik's cube) and Transformer-based vision-language-action policies (RT-1, RT-2). Robots stopped relying on hand-written rules and began learning from experience.", "events": [ { "year": "2017", "title": "Dex-Net 与大规模抓取学习", "titleEn": "Dex-Net and Large-Scale Grasp Learning", "desc": "UC Berkeley AUTOLAB 的 Ken Goldberg 团队发布 Dex-Net 2.0/3.0，用 670 万次合成抓取训练 GQ-CNN，使任意刚体抓取的成功率突破 90%，开启大规模合成数据 + 神经网络抓取的范式。", "descEn": "Ken Goldberg's UC Berkeley AUTOLAB published Dex-Net 2.0/3.0, training the GQ-CNN on 6.7 million synthetic grasps. Generic rigid-body grasping crossed 90% success, founding the paradigm of synthetic data + neural networks for manipulation.", "sources": [ { "label": "Dex-Net project", "url": "https://berkeleyautomation.github.io/dex-net/" }, { "label": "Mahler et al. · RSS 2017", "url": "https://arxiv.org/abs/1703.09312" } ] }, { "year": "2018", "title": "OpenAI Dactyl：模拟到现实", "titleEn": "OpenAI Dactyl — Sim-to-Real Manipulation", "desc": "OpenAI 用域随机化（domain randomization）在仿真中训练 Shadow Hand 操作魔方与立方体，并迁移到真实硬件。证明深度强化学习 + 大规模仿真可处理高自由度灵巧手操作。", "descEn": "OpenAI used domain randomisation to train a Shadow Hand to manipulate cubes and a Rubik's cube in simulation, then transferred to the real hardware — proving that deep RL plus massive simulation could handle high-DOF dexterous manipulation.", "sources": [ { "label": "OpenAI · Learning Dexterity", "url": "https://openai.com/research/learning-dexterity" }, { "label": "OpenAI · Solving Rubik's Cube", "url": "https://openai.com/research/solving-rubiks-cube" } ] }, { "year": "2019", "title": "Spot 商业化", "titleEn": "Spot Goes Commercial", "desc": "Boston Dynamics 将四足机器人 Spot 从研究原型转为产品，售价约 7.45 万美元，主要客户为石油天然气、电厂、警务巡检与建筑测绘。2020 年 6 月起公开发售，是首款大规模商用的腿足机器人。", "descEn": "Boston Dynamics turned the quadruped Spot from research prototype into product — about $74,500, sold to oil & gas, power-station inspection, police and construction surveying. From June 2020 it was openly purchasable: the first legged robot to ship at scale.", "image": { "file": "Spot_robot_Royal_Air_Force.jpg", "credit": "Spot robot, UK MoD / Royal Air Force (OGL v3)", "alt": "Boston Dynamics Spot" }, "sources": [ { "label": "Boston Dynamics · Spot", "url": "https://bostondynamics.com/products/spot/" }, { "label": "TechCrunch · Spot on sale", "url": "https://techcrunch.com/2020/06/16/boston-dynamics-puts-its-spot-robot-on-sale-for-74500/" } ] }, { "year": "2020", "title": "Hyundai 收购 Boston Dynamics", "titleEn": "Hyundai Acquires Boston Dynamics", "desc": "现代以 11 亿美元（80%）从软银收购 Boston Dynamics——其估值由此达到 11 亿美元；BD 接入韩系汽车的电动化平台与人形项目。", "descEn": "Hyundai acquired 80% of Boston Dynamics from SoftBank for $1.1B, valuing the company at $1.1B. The deal plugged BD into Korea's automotive electrification platform and a new humanoid programme.", "sources": [ { "label": "Hyundai · acquisition", "url": "https://www.hyundai.com/worldwide/en/newsroom/detail/hyundai-motor-group-to-acquire-controlling-interest-in-boston-dynamics-from-softbank-0000016686" }, { "label": "Reuters · Hyundai buys BD", "url": "https://www.reuters.com/article/us-hyundai-bostondynamics-idUSKBN28L053" } ] }, { "year": "2020", "title": "ANYmal & Cassie：腿足学习控制", "titleEn": "ANYmal & Cassie — Learning-Based Legged Control", "desc": "ETH Zürich 的 Marco Hutter 团队与 Agility Robotics 的 Jonas Frey/Jonathan Hurst 用大规模 RL + sim-to-real 把四足/双足机器人的鲁棒步态推向新基准。'ANYmal in the wild' 论文成为 Science Robotics 封面。", "descEn": "Marco Hutter's ETH Zürich group and Agility Robotics' Jonas Frey / Jonathan Hurst pushed quadruped and biped locomotion to new robustness benchmarks with large-scale RL and sim-to-real. The 'ANYmal in the wild' paper made the cover of Science Robotics.", "sources": [ { "label": "Science Robotics · learning legged locomotion", "url": "https://www.science.org/doi/10.1126/scirobotics.abc5986" }, { "label": "Agility Robotics · Cassie", "url": "https://agilityrobotics.com/" } ], "image": { "file": "Cassie_the_robot_01.jpg", "credit": "Agility Robotics Cassie (CC-BY-SA 2.0)", "alt": "Agility Robotics Cassie bipedal robot" } }, { "year": "2020", "title": "Covid-19 与服务机器人加速", "titleEn": "Covid-19 Accelerates Service Robotics", "desc": "新冠疫情催化送餐、消杀、远程问诊机器人。中国擎朗（Keenon）、普渡（Pudu），国外 Bear Robotics、Diligent Robotics（Moxi）等服务机器人公司在 2020–2022 年累计融资逾 10 亿美元。", "descEn": "The pandemic catalysed delivery, disinfection and telepresence robotics. China's Keenon and Pudu, plus Bear Robotics and Diligent Robotics (Moxi) abroad, collectively raised over $1B between 2020–2022.", "sources": [ { "label": "IFR · service robots in pandemic", "url": "https://ifr.org/ifr-press-releases/news/service-robots-go-into-action-against-covid-19" } ] }, { "year": "2021", "title": "Tesla AI Day 公布 Optimus 概念", "titleEn": "Tesla AI Day Announces Optimus", "desc": "8 月 19 日 Tesla AI Day 上，Elon Musk 宣布人形机器人项目 Tesla Bot / Optimus，承诺 2022 年原型机。这开启了硅谷资本进入通用人形机器人的浪潮。", "descEn": "On 19 August Tesla AI Day, Elon Musk announced the Tesla Bot / Optimus humanoid programme, promising a prototype within a year. The announcement opened the floodgates for Silicon Valley capital to back general-purpose humanoids.", "sources": [ { "label": "Tesla AI", "url": "https://www.tesla.com/AI" }, { "label": "The Verge · Tesla announces Optimus", "url": "https://www.theverge.com/2021/8/20/22633799/tesla-bot-elon-musk-humanoid-robot-ai-day" } ] }, { "year": "2022", "title": "Optimus 原型 Bumblebee 亮相", "titleEn": "Optimus 'Bumblebee' Prototype Walks", "desc": "Tesla AI Day 2022 现场展示首台行走的 Optimus 'Bumblebee'，可慢速行走、挥手；同台展示第二代量产意图机型。", "descEn": "At AI Day 2022 Tesla showed the first walking Optimus, codenamed Bumblebee — slow stride, waving — alongside a more production-oriented second prototype.", "sources": [ { "label": "Reuters · Tesla unveils Optimus prototype", "url": "https://www.reuters.com/technology/tesla-show-off-optimus-robot-prototype-musk-2022-09-30/" } ] }, { "year": "2022", "title": "Google SayCan & RT-1", "titleEn": "Google SayCan & RT-1", "desc": "Google Brain 与 Everyday Robots 联合发布 SayCan（LLM 给出语义可行性 + 机器人给出执行可行性的联合规划），随后是 RT-1：首个把 Transformer 用于厨房任务示教学习的真机系统。", "descEn": "Google Brain and Everyday Robots co-released SayCan (LLM-grounded affordance + robot-grounded feasibility) and then RT-1 — the first real-robot Transformer policy trained on kitchen demonstrations.", "sources": [ { "label": "Google · SayCan", "url": "https://say-can.github.io/" }, { "label": "Google · RT-1", "url": "https://robotics-transformer1.github.io/" } ] }, { "year": "2022", "title": "Amazon 收购 iRobot 终止", "titleEn": "Amazon's iRobot Acquisition is Blocked", "desc": "Amazon 17 亿美元收购 iRobot 遭欧盟反垄断阻击，2024 年 1 月正式终止——服务机器人行业'平台化'路径出现明显监管摩擦。", "descEn": "Amazon's $1.7B bid for iRobot ran into EU antitrust opposition and was terminated in January 2024 — a clear sign of regulatory friction for any 'platforming' path in consumer robotics.", "sources": [ { "label": "Reuters · Amazon-iRobot deal ends", "url": "https://www.reuters.com/technology/amazon-irobot-end-acquisition-agreement-2024-01-29/" } ] } ] }, { "id": "era-8-embodied-ai", "number": "08", "title": "通用人形与具身智能", "titleEn": "General-Purpose Humanoids & Embodied AI", "range": "2023 – 2026", "rangeEn": "2023 – 2026", "lead": "大语言模型在 2023 年之后让人形机器人重新成为前沿。Figure、1X、Apptronik、Sanctuary AI、Agility Digit、Tesla Optimus、Unitree H1/G1、宇树/智元/银河通用——三年内有 30+ 家公司同时下场。NVIDIA GR00T 与 Physical Intelligence 的 π0/π0.5 把通用大模型变成机器人本体的'操作系统'，'具身 AGI' 成为新的产业关键词。", "leadEn": "Large language models put humanoid robotics back on the frontier from 2023. Figure, 1X, Apptronik, Sanctuary AI, Agility Digit, Tesla Optimus, Unitree H1/G1 and a wave of Chinese entrants (Unitree, AgiBot, Galbot, etc.) — over thirty companies entered within three years. NVIDIA's GR00T and Physical Intelligence's π0/π0.5 turned foundation models into the robot's 'operating system'; 'embodied AGI' became the new industrial keyword.", "events": [ { "year": "2023-03", "title": "Figure AI 创立并展示 Figure 01", "titleEn": "Figure AI Founded; Figure 01 Revealed", "desc": "Brett Adcock 创立 Figure AI，目标量产通用人形机器人。10 月公开 Figure 01 原型；2024 年 2 月获 OpenAI、微软、英伟达、贝佐斯领投 6.75 亿美元 B 轮，估值 26 亿美元。", "descEn": "Brett Adcock founded Figure AI to mass-produce general-purpose humanoids. Figure 01 was unveiled in October; February 2024 brought a $675M Series B led by OpenAI, Microsoft, Nvidia and Bezos at a $2.6B valuation.", "sources": [ { "label": "Figure · Series B", "url": "https://www.figure.ai/news/series-b-round" }, { "label": "Reuters · Figure raises $675M", "url": "https://www.reuters.com/technology/figure-ai-startup-building-humanoid-robots-raises-675-million-bezos-nvidia-2024-02-29/" } ] }, { "year": "2023-08", "title": "Tesla Optimus Gen 2", "titleEn": "Tesla Optimus Gen 2", "desc": "Tesla 公开 Gen 2 Optimus：自研驱动器与 11 自由度手；演示走楼梯、握鸡蛋、瑜伽平衡——展示从一年前演示机的明显跃迁。", "descEn": "Tesla showed Optimus Gen 2: in-house actuators and an 11-DOF hand, demonstrating stair-climbing, egg-handling and a yoga balance pose — a clear step up from the previous year's prototype.", "image": { "file": "Optimus_bot_at_Tesla_showroom_-_20251118_-_01.jpg", "credit": "Tesla Optimus at Tesla showroom, 2025", "alt": "Tesla Optimus humanoid" }, "sources": [ { "label": "Tesla · Optimus", "url": "https://www.tesla.com/Optimus" }, { "label": "Bloomberg · Optimus Gen 2", "url": "https://www.bloomberg.com/news/articles/2023-12-13/tesla-optimus-gen-2-humanoid-robot-video" } ] }, { "year": "2023-08", "title": "Unitree H1：首款国产高动态双足", "titleEn": "Unitree H1 — China's First High-Dynamic Biped", "desc": "杭州宇树发布 1.8 米的双足人形 H1，膝部输出扭矩 360 N·m，可奔跑 1.5 m/s。定价 9 万美元起，比西方对标产品低一个数量级。2024 年 G1（13 万元起）进一步把成本压向消费级。", "descEn": "Hangzhou-based Unitree launched the 1.8 m biped H1: 360 N·m knee torque, 1.5 m/s running, starting at $90,000 — an order of magnitude below comparable Western platforms. The 2024 G1 (from ~$16K) pushed cost toward consumer pricing.", "sources": [ { "label": "Unitree · H1", "url": "https://www.unitree.com/h1" }, { "label": "IEEE Spectrum · Unitree H1 review", "url": "https://spectrum.ieee.org/unitree-h1-humanoid" } ] }, { "year": "2023-08", "title": "Sanctuary AI Phoenix Gen 6", "titleEn": "Sanctuary AI Phoenix Gen 6", "desc": "加拿大 Sanctuary AI 发布 Phoenix 第 6 代——170 cm、70 kg、自研液压拇指相对机构，主打 '通用智能体' Carbon。这是首批把灵巧手与认知架构同时作为卖点的人形公司。", "descEn": "Canada's Sanctuary AI unveiled Phoenix Gen 6 — 170 cm, 70 kg, with a hydraulic opposable-thumb hand, pitched alongside the cognitive architecture 'Carbon'. One of the first humanoid companies to make dexterous hands and a cognitive layer co-equal sales points.", "sources": [ { "label": "Sanctuary AI · Phoenix Gen 6", "url": "https://www.sanctuary.ai/blog/sanctuary-ai-unveils-phoenix" } ] }, { "year": "2023-12", "title": "Boston Dynamics 退役液压 Atlas", "titleEn": "Boston Dynamics Retires Hydraulic Atlas", "desc": "BD 发布告别视频，让运行近 11 年的液压 Atlas '退休'；次日宣布电驱版 Atlas（all-electric），更安静、更轻、更易商用。", "descEn": "Boston Dynamics released a farewell video, retiring the hydraulic Atlas after nearly eleven years; a day later it announced the all-electric Atlas — quieter, lighter and built for commercial deployment.", "sources": [ { "label": "Boston Dynamics · farewell to HD Atlas", "url": "https://www.bostondynamics.com/resources/blog/farewell-atlas" }, { "label": "Boston Dynamics · all-new Atlas", "url": "https://bostondynamics.com/blog/electric-new-era-for-atlas/" } ] }, { "year": "2024-01", "title": "1X 完成 1 亿美元 B 轮", "titleEn": "1X Closes $100M Series B", "desc": "挪威/美国公司 1X（前身 Halodi Robotics，2023 改名）完成由 EQT Ventures 与 OpenAI Startup Fund 共同领投的 B 轮，主推家庭与服务型双足 NEO Beta。", "descEn": "Norwegian/American 1X (formerly Halodi Robotics, renamed 2023) raised a Series B led by EQT Ventures and the OpenAI Startup Fund, focused on the home/service biped NEO Beta.", "sources": [ { "label": "1X · Series B", "url": "https://www.1x.tech/discover/1x-secures-100-million-in-series-b-funding-round-led-by-eqt-ventures" } ] }, { "year": "2024-03", "title": "NVIDIA 发布 GR00T 与 Isaac 平台", "titleEn": "NVIDIA Announces GR00T & the Isaac Platform", "desc": "NVIDIA GTC 主题演讲发布 Project GR00T——人形通用基础模型，配套 Isaac Lab/Sim/Manipulator/Perceptor。同年 Apple、Meta、Amazon 也宣布机器人基础模型路线。", "descEn": "At GTC NVIDIA announced Project GR00T — a foundation model for humanoids — alongside the Isaac Lab/Sim/Manipulator/Perceptor toolchain. Apple, Meta and Amazon followed with their own robot-foundation-model roadmaps.", "sources": [ { "label": "NVIDIA · Project GR00T", "url": "https://developer.nvidia.com/blog/nvidia-announces-project-gr00t-foundation-model-for-humanoid-robots/" } ] }, { "year": "2024-03", "title": "Figure 01 × OpenAI 语音交互演示", "titleEn": "Figure 01 × OpenAI Voice-Interaction Demo", "desc": "Figure 与 OpenAI 联合发布视频：Figure 01 在厨房用对话理解请求、自主推理、规划与执行端到端动作。视频成为 LLM × 人形最具影响力的 demo 之一。", "descEn": "Figure and OpenAI released a joint video: Figure 01 understanding a kitchen request through conversation, planning and acting end-to-end. One of the most-cited LLM-meets-humanoid demos of the cycle.", "sources": [ { "label": "Figure AI · OpenAI integration", "url": "https://www.figure.ai/news/figure-openai" } ] }, { "year": "2024-06", "title": "Apptronik Apollo & 与 Mercedes 合作", "titleEn": "Apptronik Apollo and the Mercedes Partnership", "desc": "Apptronik 与 Mercedes-Benz 签订协议，将 Apollo 部署到德国 Berlin/Sindelfingen 工厂用于零部件搬运；2025 年完成 3.5 亿美元 A 轮，由 Google 与 B Capital 领投。", "descEn": "Apptronik signed Mercedes-Benz to deploy Apollo for part-handling at Berlin and Sindelfingen; in 2025 it closed a $350M Series A led by Google and B Capital.", "sources": [ { "label": "Mercedes-Benz · Apptronik partnership", "url": "https://group.mercedes-benz.com/innovation/case/digitalization/humanoid-robots.html" }, { "label": "Apptronik · Series A", "url": "https://apptronik.com/news/apptronik-raises-350m-series-a" } ] }, { "year": "2024-10", "title": "Physical Intelligence 发布 π0", "titleEn": "Physical Intelligence Releases π0", "desc": "硅谷新创 Physical Intelligence（Karol Hausman、Sergey Levine 等创立）发布 π0——首个声称跨多种机型与任务可泛化的视觉-语言-动作（VLA）基础模型，3 亿美元由 Jeff Bezos、Thrive、Lux 领投。", "descEn": "Bay Area start-up Physical Intelligence (founded by Karol Hausman, Sergey Levine and others) released π0 — a vision-language-action (VLA) foundation model claimed to generalise across embodiments and tasks. Jeff Bezos, Thrive and Lux led a $400M round at a $2.4B valuation.", "sources": [ { "label": "Physical Intelligence · π0", "url": "https://www.physicalintelligence.company/blog/pi0" }, { "label": "Bloomberg · PI $400M", "url": "https://www.bloomberg.com/news/articles/2024-11-04/jeff-bezos-thrive-back-physical-intelligence-at-2-4-billion-value" } ] }, { "year": "2024-12", "title": "Tesla Optimus 进入弗里蒙特工厂", "titleEn": "Optimus Inside the Fremont Plant", "desc": "Tesla 公布 Optimus 在弗里蒙特工厂内执行电池单元搬运的视频；Musk 宣布 2025 年外销目标 1 万 ~10 万台、2026 年量产 5 万 ~10 万台。", "descEn": "Tesla released footage of Optimus moving battery cells inside the Fremont factory; Musk floated targets of 10K–100K external units in 2025 and 50K–100K mass-produced units in 2026.", "sources": [ { "label": "Tesla AI · Optimus", "url": "https://www.tesla.com/AI" } ] }, { "year": "2025-Q1", "title": "中国'六小龙'与人形产业政策", "titleEn": "China's 'Six Tigers' and Humanoid Industrial Policy", "desc": "中国宇树、智元（AgiBot）、银河通用、星动纪元、傅利叶、追觅等被合称'人形六小龙'。工信部 2023 年《人形机器人创新发展指导意见》明确 2025/2027 量产与生态目标，地方政府跟进设立专项基金。", "descEn": "Unitree, AgiBot (Zhiyuan), Galbot, Robot Era, Fourier and Dreame became China's 'six tigers' of humanoid robotics. The MIIT's 2023 'Guiding Opinions on Innovative Development of Humanoid Robots' set explicit 2025/2027 production and ecosystem targets, followed by dedicated provincial funds.", "sources": [ { "label": "MIIT · 人形机器人创新发展指导意见", "url": "https://www.miit.gov.cn/zwgk/zcwj/wjfb/yj/art/2023/art_8aafa39e1c8a4ea394b86c7e9f06da08.html" }, { "label": "Reuters · China's humanoid push", "url": "https://www.reuters.com/technology/chinas-humanoid-robot-makers-race-build-cheaper-machines-2024-04-15/" } ] }, { "year": "2025", "title": "Figure 02 量产部署 BMW", "titleEn": "Figure 02 Deployed at BMW", "desc": "Figure 02 在 BMW 美国 Spartanburg 工厂参与车身部件装配的端到端试点，被 Figure 称为首批'通用人形在量产汽车厂端到端运行'的案例。", "descEn": "Figure 02 entered an end-to-end pilot for body-part assembly at BMW's Spartanburg plant — billed by Figure as one of the first cases of a general-purpose humanoid working end-to-end inside a production automotive factory.", "sources": [ { "label": "BMW Group · Figure deployment", "url": "https://www.press.bmwgroup.com/global/article/detail/T0444022EN/" }, { "label": "Figure · Figure 02", "url": "https://www.figure.ai/news/figure-02" } ] }, { "year": "2025", "title": "Physical Intelligence π0.5：跨身体迁移", "titleEn": "Physical Intelligence π0.5 — Cross-Embodiment Transfer", "desc": "π0.5 模型把视觉-语言-动作能力跨 Franka、ALOHA、双臂人形等多种本体迁移，首次展示一个基础模型对未见过的家用任务做零样本规划。", "descEn": "π0.5 generalised vision-language-action across Franka arms, ALOHA bimanual rigs and dual-arm humanoids, demonstrating zero-shot planning of unseen household tasks by a single foundation model.", "sources": [ { "label": "Physical Intelligence · π0.5", "url": "https://www.physicalintelligence.company/blog/pi05" } ] }, { "year": "2026 (展望)", "title": "首批通用人形商业出货", "titleEn": "First Commercial Shipments of General-Purpose Humanoids (outlook)", "desc": "Figure、Apptronik、1X、宇树、智元等公司公开承诺 2026 年内年产 5,000 ~ 100,000 台量级；高盛与摩根士丹利预测 2035 年人形机器人 TAM 1,500 亿 ~ 5,000 亿美元。", "descEn": "Figure, Apptronik, 1X, Unitree and AgiBot have publicly committed to annual production volumes of 5,000–100,000 units in 2026; Goldman Sachs and Morgan Stanley project a 2035 humanoid TAM of $150B–$500B.", "sources": [ { "label": "Goldman Sachs · humanoid TAM", "url": "https://www.goldmansachs.com/insights/articles/the-global-market-for-robots-could-reach-38-billion-by-2035" }, { "label": "Morgan Stanley · humanoid primer", "url": "https://www.morganstanley.com/ideas/humanoid-robot-market-5-trillion-by-2050" } ], "yearEn": "2026 (outlook)" } ] } ], "stats": { "industrialInstalls": { "title": "全球工业机器人年度安装量", "titleEn": "Annual Industrial Robot Installations", "subtitle": "Annual installations of industrial robots (thousands)", "subtitleEn": "Annual installations of industrial robots (thousands)", "source": "IFR World Robotics Report 2024", "sourceUrl": "https://ifr.org/img/uploads/Executive_Summary_WR_2024.pdf", "annotationCrisis": "2009 金融危机", "annotationCrisisEn": "2009 financial crisis", "unitLabel": "单位：千台 / 年", "unitLabelEn": "Unit: thousands per year", "data": [ { "year": 1995, "value": 69 }, { "year": 2000, "value": 99 }, { "year": 2005, "value": 120 }, { "year": 2008, "value": 113 }, { "year": 2009, "value": 60 }, { "year": 2010, "value": 121 }, { "year": 2013, "value": 178 }, { "year": 2015, "value": 254 }, { "year": 2017, "value": 400 }, { "year": 2018, "value": 422 }, { "year": 2019, "value": 373 }, { "year": 2020, "value": 390 }, { "year": 2021, "value": 517 }, { "year": 2022, "value": 553 }, { "year": 2023, "value": 541 } ] }, "humanoidFunding": { "title": "代表性人形机器人公司单轮融资", "titleEn": "Selected Humanoid Robotics Fundraises", "subtitle": "Selected humanoid robotics fundraises, USD millions", "subtitleEn": "Selected humanoid robotics fundraises, USD millions", "source": "Company announcements, Crunchbase, Bloomberg, Reuters (2022–2025)", "sourceUrl": "https://www.bloomberg.com/news/articles/2024-02-29/figure-ai-raises-675-million-led-by-microsoft-openai-bezos", "data": [ { "label": "Agility (Series B)", "year": 2022, "value": 150 }, { "label": "Sanctuary AI (Series A)", "year": 2022, "value": 75 }, { "label": "1X (Series A2)", "year": 2023, "value": 24 }, { "label": "Figure (Series A)", "year": 2023, "value": 70 }, { "label": "1X (Series B)", "year": 2024, "value": 100 }, { "label": "Figure (Series B)", "year": 2024, "value": 675 }, { "label": "Skild AI (Series A)", "year": 2024, "value": 300 }, { "label": "Physical Intelligence", "year": 2024, "value": 400 }, { "label": "Apptronik (Series A)", "year": 2025, "value": 350 }, { "label": "Figure (Series C)", "year": 2025, "value": 1500 } ] } }, "people": [ { "name": "George C. Devol", "years": "1912–2011", "role": "Unimate 发明者；首个工业机器人专利持有者", "roleEn": "Inventor of Unimate; first industrial-robot patent", "quote": "你不必复制人，只需复制人能做的工作。", "quoteEn": "You don't need to replicate the person. You need to replicate what the person can do.", "image": "George_C_Devol_Color_Photo.jpg", "imageCredit": "George C. Devol (CC-BY-SA 3.0)" }, { "name": "Joseph Engelberger", "years": "1925–2015", "role": "Unimation 创始人；'机器人之父'", "roleEn": "Founder of Unimation; 'father of industrial robotics'", "quote": "我不在乎机器人长什么样，只关心它能不能保持工业革命的承诺。", "quoteEn": "I don't care what robots look like. I care whether they keep the promise of the industrial revolution." }, { "name": "Rodney Brooks", "years": "1954–", "role": "MIT、iRobot、Rethink Robotics 创始人", "roleEn": "MIT, iRobot, Rethink Robotics founder", "quote": "Fast, cheap, and out of control. — 反应式机器人学派宣言（1989）", "quoteEn": "Fast, cheap, and out of control. — Behavior-based robotics manifesto (1989).", "image": "Rodney_Brooks_in_2021.jpg", "imageCredit": "Rodney Brooks, 2021 (CC-BY-SA 4.0)" }, { "name": "Marc Raibert", "years": "1949–", "role": "Boston Dynamics 创始人；动态腿足运动开创者", "roleEn": "Founder of Boston Dynamics; pioneer of dynamic legged locomotion", "quote": "balance is not a state, it's an active process.", "quoteEn": "Balance is not a state; it is an active process.", "image": "Marc_Raibert_-_Empowering_the_Future_(cropped).jpg", "imageCredit": "Marc Raibert (CC-BY 2.0)" }, { "name": "Sebastian Thrun", "years": "1967–", "role": "Stanley/Waymo；占用栅格地图（SLAM）", "roleEn": "Stanley / Waymo; occupancy grids (SLAM)", "quote": "Self-driving cars must out-pessimize the world.", "quoteEn": "Self-driving cars must out-pessimize the world.", "image": "Sebastian_Thrun_by_Christopher_Michel_-_6.jpg", "imageCredit": "Sebastian Thrun, by Christopher Michel (CC-BY-SA 4.0)" }, { "name": "Daniela Rus", "years": "1963–", "role": "MIT CSAIL 主任；分布式与软体机器人", "roleEn": "Director, MIT CSAIL; distributed & soft robotics", "quote": "Robots will eventually be as ubiquitous as electricity.", "quoteEn": "Robots will eventually be as ubiquitous as electricity.", "image": "UN_AI_for_Good_Summit_2025_-_Daniela_Rus_01_(cropped)_2.jpg", "imageCredit": "Daniela Rus at UN AI for Good Summit (CC-BY-SA 4.0)" } ] }