当前位置：主页 > 郴州 >

悠长假期

Russia's Top Diplomat Slams West for Relentless Efforts to Dictate to Other Countries_我的网站

请回答1997

一 | 芝能科技出品今年 7 月，美国自动化促进协会（A3）在 Humanoid Robot Forum 上做了一场座谈，请来三家做灵巧手相关生意的创始人：PSYONIC 的 Aadeel Akhtar、Sanctuary AI 的 Olivia Norton，还有刚被自己另一家公司收购的 Kinisi 创始人 Bren Pierce。主持人把话题引向人形机器人“另一道最大的难题”，灵巧度，以及背后的数据采集与训练。

二 | Lavrov expressed gratitude to Belarusian President Alexander Lukashenko for the invitation, which confirms the "special nature of our [Russia-Belarus] relations, our alliance and strategic partnership.","During a lengthy conversation today, we discussed in detail the global situation. The problems that international relations and efforts to preserve international law face due to the selfish position and policy of the West, which is trying to impose its dictatorship on everyone, issuing ultimatums and not shunning any methods of subjugation," Lavrov said.,The diplomat noted that it is important now to uphold principles of the United Nations Charter.,"The future of the world order is really at stake, and we will return to the roots and in practice we will uphold the principles of the UN Charter, first and foremost principle of the sovereign equality of States. Otherwise, the world will be plunged into long-term chaos. Our choice is clear. We stand for unconditional respect of international law and we will defend this position together with our Belarusian and other allies," Lavrov added.,Genuine Multipolar Order Backed by BRICS Allows Greater Levels of Dialogue, Ex-Envoy Says24 June, 14:09 GMT,The Russia's top diplomat also said that the European Union is suffering from sanctions imposed by the United States against Russia much more than Washington itself, which means that the US probably wants to weaken the bloc as its competitor as well.,"If you compare the sanctions imposed by EU countries against Russia and Belarus, and, on the other hand, [the sanctions] imposed by the United States, then [you'll see that] the US, in general, are sparing themselves and trying not to be very active in these areas that can harm their economy," Lavrov emphasized.,The Russian foreign minister added that the US was being negatively affected by its own sanctions, but the EU was suffering from them much more. Therefore, the sanctions promoted by Washington might seek to weaken not only Russia and Belarus, but the EU as a competitor as well, Lavrov said.,Frustration Growing Among US Allies as Russia Sanctions Backfire, Reports Say25 June, 12:51 GMT,Moscow, Minsk Continue to Insist on Having Their Interests Respected Amid NATO Expansion,Russia and Belarus will keep insisting on having their security interests respected as NATO continues its expansion eastwards, Lavrov noted.,"Foreign policy and security issues were discussed at length during the presidents' meeting in St. Petersburg. It was underscored that Russia and Belarus will insist that their legitimate interests in the sphere of security during the age when NATO continues to act aggressively, that our legitimate interests be respected. We are always in favor of dialogue, we are always in favor of solutions that ensure equality, that ensure a balance of interests," Lavrov told journalists after a meeting with Belarusian President Alexander Lukashenko.,The minister recalled several decisions made in the 1990s and 2010 on non-strengthening of countries' security at the expense of the security of others, and Moscow has since been insisting that these commitments be implemented. However, Lavrov noted, NATO has expanded five times while saying "the alliance is defensive, do not be afraid.",The Warsaw Pact — a collective defense treaty, signed between the Soviet Union and some countries of eastern Europe to counterweight NATO — no longer exists, the minister said, adding that further NATO enlargement eastward to establish a new line of defenses was "completely absurd.","For all these years, Russia has been trying to persuade the alliance to honor its commitments, not to strengthen its security at the expense of the security of others, not to expand eastward. But they have been pumping weapons into Ukraine and indulging neo-Nazi manifestations in every way, the theory and practice of neo-Nazism that has been taking root in Ukraine, had supported the coup d'état [in Ukraine] and the undermining of the Minsk agreements," Lavrov said.,On Tuesday, Turkey, Sweden, and Finland signed a security memorandum, after Ankara withdrew its objections to the two nations' entry into the alliance. On Wednesday, the two countries were officially invited to join NATO on the sidelines of the 2022 NATO Summit in Madrid.,NATO Secretary General Jens Stoltenberg said earlier on Thursday that the protocol on Finland and Sweden's accession to NATO will be signed on July 5.,Putin: If NATO Infrastructure is Deployed to Finland & Sweden, Russia Will Respond in ‘Mirror Way’01:02 GMT,Russia will analyze decisions made at the NATO summit in Madrid and will act accordingly, Foreign Minister Sergey Lavrov highlighted.,"We will analyze the situation and make a decision depending on how exactly, what the adopted and announced decisions of the North Atlantic Alliance will be embodied in," Lavrov said.,US Activity Regarding Biolabs in Europe Dangerous,Lavrov also noted that Moscow and Minsk consider US actions regarding biological laboratories in Europe as a threat.,"The actions of the United States in the field of bio laboratories in Europe are a danger to the whole world," Lavrov said at a press conference in Belarus.,Russia and Belarus see that the US does not want to ensure transparency of its biological activity, Lavrov added.,Plague and Typhus: What Have American Scientists Been Up to in Ukraine’s Biolabs?17 April, 18:23 GMT,The Russian foreign minister is on a working visit to Minsk that coincides with the 30th anniversary of the establishment of diplomatic relations between Russia and Belarus. Earlier in the day, Lavrov had a meeting with Lukashenko.。这几个人的答案各不相同，却都绕不开一个事实：人形机器人走到今天，腿能走、身能平衡，真正卡住它的，是那两只手。一只人手有 27 个自由度，27 块骨头，三十多条肌肉，还有数以千计的神经末梢。我们靠它拿起鸡蛋、系鞋带、弹钢琴，从来不觉得难。要让机器复刻这种灵活，却是机器人学里最磨人的一道关。 ● 第一关：把足够多的动力塞进巴掌大的地方灵巧手难，第一难在驱动。要在跟人手差不多大的体积里，塞进电机、减速器、编码器、传动机构和传感器，还得有力气。业界主流用空心杯电机，直径往往只有 6 到 8 毫米，功率密度很高，可塞得密了就发热，手指里那点空间散热极难，长时间高负载很容易过热。特斯拉在第三代灵巧手上把执行器全挪到了前臂，手指靠腱绳远程拉动，就是为了给手部减重、给散热留余地。 PSYONIC 的 Ability Hand 反过来，把 6 个无刷电机直接放进手掌和手指，换来 0.2 秒的合拢速度和 490 克的重量，代价是自由度只有 6 个。

三 | 这里头有个绕不开的取舍：电机离关节越近，控制越直接、响应越快，可手就越重、越热；电机挪远了，手轻了，可传动链变长，精度和寿命又成了新麻烦。

四 | ● 第二关：连杆、腱绳还是直驱驱动之后是传动，这是灵巧手路线分歧最大的地方。连杆传动靠刚性的杆件把动力送到关节，负载和精度都好，工业里很稳，缺点是不够柔，手指掰不过去的地方就是掰不过去。因时机器人的 RH56 系列、傲意科技的 ROHand 都走这条线，靠它把成本压下来、把可靠性做上去，因时 2025 年单这一系列就卖出了一万多只。

五 | 腱绳传动更像人，用柔性线缆模仿肌腱，把电机放在前臂，靠拉索带动手指，轻、灵活、自由度能堆得高。特斯拉第三代、英国的 Shadow、国内的灵心巧手 L30、宇树 Dex5 都在这条线。可腱绳的软肋也明显：线缆会磨损、会拉伸、张力会漂移，时间一长关节零位就歪了。有调研报告称，特斯拉在工厂分拣测试里灵巧手寿命只有六周，每年换件成本逼近十万美元，腱绳的蠕变和摩擦是主要推手。

六 | 复合钨丝腱绳（高测股份基于光伏金刚线技术）抗蠕变达普通产品 200 倍、循环寿命超 160 万次，可单只手用到的钨丝成本就过万元，暂时贵得用不起。

七 | 直驱则是电机直接顶在关节上，没有传动误差、响应快，兆威机电等用它做高精度手，代价是体积大、散热难、末端惯量大。于是越来越多方案走向混合：丝杠加腱绳、行星齿轮箱加丝杠加腱绳，在灵活和精度之间找平衡。 ● 第三关：让手真的“感觉到”东西光会动还不够，手得知道摸到了什么。

八 | 人类指尖每平方厘米有近万个触觉像素点，机器人长期是“盲人摸象”，只在指尖放一个单点力传感器。 2025 年这个情况在变。

九 | 6 月，北京通用人工智能研究院和北大联合做的 F-TAC Hand 登上《自然·机器智能》封面，手掌 70% 面积铺了高分辨率触觉传感器，空间分辨率到 0.1 毫米。

十 | 帕西尼的 DexH13 集了 1140 个触觉单元，还把 AI 视觉融进来；智元的 OmniHand 在一只 500 克的手上布了 400 多个力控触点，售价压到 9800 元；强脑的 Revo 2 能分辨硬度、纹理、受力方向，现场演示过点火柴。这些进展让机器人从“握住”走向“感受”。但电子皮肤也有自己的麻烦：反复触碰会磨损，柔性传感器在工厂环境里寿命有限，触觉数据怎么和控制闭环接上，也还在摸索。 ● 第四关：手和脑要一起练前面三关是硬件，最后一关在软件。自由度越高，协调越难；要让二十多个关节听话地配合，离不开触觉、力觉的实时反馈，更离不开能理解任务的大模型。宇树创始人王兴兴最近有个判断：机器人本体、灵巧手这些硬件还有提升空间，但某种意义上已经基本够用，真正的短板在软件层的具身智能大模型，那个领域现在还没人真正突破，处境像 ChatGPT 出现前的一到三年。这里还有个鸡生蛋的问题：没有大规模部署，就采不到足够的真实交互数据；没有够聪明的模型，又没法大规模部署。灵心巧手估算，大约要一百万台级别的装机量，才能把真实数据集补全，让灵巧手在部署中学会大多数人类技能。这条路，硬件能跑，数据在起步，模型还在概念期。

十一 | ● 国外进度：几条不同的路把视野拉到全球，几家走得各有章法。 ◎ 特斯拉最激进，Gen3 干到 22 个自由度（五指各 4 个加手腕 2 个），执行器 17 个，前臂放电机、腱绳拉手指，还用 O 型圈弹性回弹省掉 4 到 5 个伸展电机，拇指做成了三自由度。工程巧思很多，可腱绳蠕变、摩擦、零位漂移这些坑还没填平，量产时间也一再往后推。 ◎ Shadow Robot 是另一条路，做了二十多年，24 个关节（20 个主动自由度加 4 个欠驱动），20 个直流电机，腱驱，一百多个传感器跑在 1kHz 上，还接了 BioTac 指尖触觉，ROS 全打通。它是研究圈的金标准，可一台十万美元往上，重 4.3 公斤，是实验室里的精密工具，不是量产货。 ◎ PSYONIC 最特别，从假肢起家，Ability Hand 五指、6 自由度、30 个触觉传感器、490 克、0.2 秒合拢，NASA、Meta、Google、Amazon 都在用，Apptronik 的 Apollo、Hexagon 直接把它接上机器人，ABB 拿它做数据采集。它证明了一件事：假肢领域打磨了几十年的五指灵巧和触觉反馈，能直接给机器人用。 ◎ Kinisi 和 Sanctuary 则更务实。Kinisi 把双臂 torso 架在轮式底盘上，手用现成夹爪，先把能干活跑通；Sanctuary 把重心压在移动操作，不执着于一步到位造出最像人的手。 Figure 的 02 代手是 16 自由度，每根手指一个自含的电机加传感单元，指尖能感知低到 3 克的力量，手掌还藏了摄像头做手内视觉，配合 Helix 模型端到端训练。

十二 | ● 国内进度：多路线一起冲国内更热闹，截至 2025 年 3 月相关企业已超 40 家，资本和出货量都在猛涨。 2025 年国内灵巧手销量 1.92 万只，同比涨了 236%，2026 年预计冲到 7 万只，到 2030 年可能破 43 万只，五年复合增速约 87%。路线也分几支。 ◎ 连杆派以因时、傲因为代表，靠可靠和低价走量； ◎ 因时的 G2 系列做到 13 个主动自由度、18 个可动关节，整手 990 克、指尖力 20N，已经盈亏平衡。腱绳和高自由度派冲得最猛。 ◎ 灵心巧手的 L30 到 25 自由度，2025 年融了五轮，放话 2026 年交付 5 到 10 万台； ◎ 宇树 Dex5 单手 20 自由度（16 主动加 4 被动），94 个触点，能打扑克、拧魔方； ◎ 曦诺未来的 Flex 1 也是 25 自由度，手掌 380 克，自研 8 毫米空心杯电机和 7 毫米行星滚柱丝杠，扭矩密度做到 322Nm/kg； ◎ 灵巧智能的 DexHand021 Pro 是 22 自由度仿生架构，还先提出了量化灵巧度的评价体系。触觉感知派则有帕西尼、强脑、戴盟、智元。 ◎ 帕西尼把多维触觉和 AI 视觉合在一起，四个月拿了 10 亿融资； ◎ 戴盟用毫米级视触觉传感器做易碎件柔顺操控； ◎ 智元 OmniHand 把 400 多个触点塞进 500 克的手，9800 元的定价把高自由度手拉到万元以内，2026 年 4 月又亮出 22 加 3 自由度的 Ultra-T，掌内还集了摄像头。整机厂几乎都在自研，宇树、智元、优必选、星动纪元（XHand 12 主动自由度）、兆威机电（DM17 十七自由度）各显神通。对比之下：各有所长，也各有欠账把国内外摆在一起看，差距很少体现在某一项参数上，更多在各自的侧重点。

十三 | ◎ 国外在高自由度、仿真生态、假肢技术迁移上积累更深：Shadow 嵌进英伟达 Isaac Lab，让全球研究者在仿真里用它训练；PSYONIC 把假肢的触觉和可靠性直接搬过来；特斯拉把自由度和仿生推到极限。它们的手更像研究级或参考级产品，单项强，可成本和寿命是硬伤。

十四 | ◎ 国内则在成本、量产、供应链、高自由度基础上冲得猛。因时靠连杆方案一年卖一万多只，灵心巧手喊出十万台年交付，帕西尼四个月十亿融资，智元把高自由度手压到万元档。

十五 | 短板在数据和模型，这是王兴兴说的软肋，也是全行业的软肋。特斯拉的灵巧手在工厂测试寿命只有六周、单只成本超六千美元；同一时间因时靠相对简单的连杆方案卖破万台。极致仿生和稳定量产，眼下还不是一回事。小结人形机器人真正干活，不能用夹子，灵巧手，难在硬件要小要轻要有力，难在传动要柔要准要耐用，难在传感要密要稳要真，更难在软件和硬件得一起练、一起放量。