3 BionicANTs 2 Festo AG & Co. KG With one eye for detail and the other on the big picture: for the BionicANTs, the Festo engineers have not only taken the delicate anatomy of the natural ant as a role model. For the first time, the cooperative behaviour of the creatures has also been transferred to the world of technology using complex control algorithms. Like their natural role models, the BionicANTs work together under clear rules. They communicate with each other and coordinate both their actions and movements. Each ant makes its decisions autonomously, but in doing so is always subordinate to the common objective and thereby plays its part towards solving the task in hand. Stimulus for production of the future In an abstract manner, this cooperative behaviour provides interesting approaches for the factory of tomorrow. Future production systems will be founded on intelligent components, which adjust themselves flexibly to different production scenarios and thus take on tasks from a higher control level. The BionicANTs demonstrate how individual units can react independently to different situations, coordinate with each other and act as an overall networked system. By pushing and pulling together, the artificial ants move an object across a defined area. Thanks to this intelligent division of work, they are able to efficiently transport loads that a single ant could not move. Functional integration in the smallest of spaces However, not only the cooperative behaviour of the artificial ants is amazing – even their production method is unique. For the first time, laser-sintered components are subsequently embellished with visible conductor structures in the so-called 3D MID process. The electrical circuits are attached on the surface of the components, which thereby take on design and electrical functions at the same time. In this way, all the technical components can be fitted into or on the ant’s body and be exactly coordinated with each other. After being put into operation, an external control system is no longer required. It is possible, however, to monitor all the parameters wirelessly and to make a regulating intervention. BionicANTs Highly integrated individual systems to solve a common task The BionicANTs also come very close to their natural role model in terms of design and constructional layout. Even the mouth instrument used for gripping objects is replicated in very accurate detail. The pincer movement is provided by two piezo-ceramic bending transducers, which are built into the jaw as actuators. If a voltage is applied to the tiny plates, they deflect and pass on the direction of movement mechanically to the gripping jaws. New application of piezo technology Festo also makes use of the benefits of piezo technology for the legs on the artificial ants. Piezo elements can be controlled very precisely and quickly. They require little energy, are almost wear-resistant and do not need much space. Three trimorphic piezo-ceramic bending transducers, which serve both as an actuator and a design element, are therefore fitted into each thigh. By deflecting the top bending transducer, the ant lifts its leg. With the pair underneath, each leg can be exactly deflected forwards and backwards. To increase the relatively low lift, the team developed a flexible hinge joint, which extends the ant’s step size significantly. Highly complex control algorithms for cooperative behaviour With two rechargeable batteries on board, the ants can work for 40 minutes before they have to link up with a charging station via their feelers. All actions are based on a distributed set of rules, which have been worked out in advance using mathematical modelling and simulations and are stored on every ant. The control strategy provides for a multi-agent system in which the participants are not hierarchically ordered. Instead, all the BionicANTs contribute to the process of finding a solution together by means of distributed intelligence. The information exchange between the ants required for this takes place via the radio module located in the torso. Camera system and floor sensor working together The ants use the 3D stereo camera in their head to identify the gripping object as well as for self-localisation purposes. With its help, each ant is able to contextualise itself in its environment using landmarks. The opto-electrical sensor in the abdomen uses the floor structure to tell how the ant is moving in relation to the ground. With both systems combined, each ant knows its position – even if its sight is temporarily impaired. 01: Well-conceived name: ‘ANT’ stands both for the natural role model and for Autonomous Networking Technologies 02: Well-conceived concept: Numerous components, technologies and functions are combined in each ant in the smallest of spaces 01 02 Antenna Contact to the charging station Rechargeable batteries 2 Li-Po batteries in series, 8.4 V Running time up to 40 minutes Piezo-ceramic bending transducers Move the gripping jaws Ring circuit with output stages Permanent voltage of 300 V and interface to the actuator technology Radio module Communication between the ants Optical sensor chip Records the distance covered by means of the floor structure Charging circuit Constant conversion from 8.4 V to 300 V, which are necessary for piezo-ceramic bending transducers 3D stereo camera Self-localisation and differentiated object detection Piezo-ceramic bending transducers Pushing movement in forwards and backwards direction Lifts the leg and pushes off the ground Processor Distributes all the necessary signals and activates the actuators
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