BionicMobileAssistant

未來，工人和機器人將會越來越緊密地合作。因此，Festo 一直在深入研究一些系統，例如，可以讓人們減少單調或危險活動、並同時不會帶來任何風險的系統。人工智慧在這裡發揮核心作用。

･模組化輔助系統

Festo 與蘇黎世聯邦理工學院合作開發了 BionicMobileAssistant，它由三個子系統組成：一個移動機器人、一個電動機器手臂和 BionicSoftHand 2.0。氣動夾爪受人手啟發，是 2019 款 BionicSoftHand 的升級版。

DynaArm：具有高功率密度的動態機器手臂

有了電動機器手臂 DynaArm，便可實現快速、動態的作動。其輕量化設計確保了這一點：高度整合的驅動器模組僅重 1 公斤。在這些所謂的･DynaDrive･中，馬達、減速機、馬達控制電子設備和感測器安裝在非常小的空間內。此外，機器手臂具有高功率密度，在 60 Nm 的驅動扭矩下為 1 kW，遠遠超過傳統工業機器人。

基於模型的力道控制和補償動態效應的控制演算法，機器手臂可以良好地對外部影響做出反應，因而非常靈敏地與周圍環境互動。它由球輪機器人透過 EtherCAT 通訊匯流排進行控制。由於其模組化設計，DynaArm 可快速投入運作並易於維護。

球輪機器人：具有特殊驅動器的移動機器人應用

球輪機器人基於複雜的驅動技術：它在一個由三個全向輪驅動的球上保持平衡。這使 BionicMobileAssistant 可以向任何方向移動。機器人一次只能以一點接觸地面，因此可以導航通過狹窄的通道。為了保持平衡，它必須不斷作動。儲存在球輪機器人內部強大電腦的規劃和控制演算法，負責作動的規劃和協調。

機器人的穩定性完全是動態達成的——在受到外部影響的情況下，球輪機器人可以快速讓球旋轉，因而保持平衡。它透過慣性測量單元裝置和車輪上的位置編碼器，記錄其作動和系統的相對傾斜度。基於這些資料，優化程式可以計算機器人和手臂必須如何移動才能將手帶到目標位置，同時穩定機器人。

氣動機器手的手指由具有氣腔的柔性波紋管結構組成，表層覆蓋著堅固且柔韌的紡織物。這使得機器手輕巧、靈活、適應性強和靈敏，同時也能夠施加強大的力量。與･2019･款･BionicSoftHand･一樣，氣動手指也透過一個具有壓電閥的精巧型閥島進行控制，該閥島直接安裝在手上。

透過指尖觸覺靈敏度微調夾爪

這隻機器手戴的手套，在指尖、手掌和機器手的外部都有觸覺力感測器。這樣，它們就能感覺到要抓取的物體有多硬、手感如何，並針對該物體調整抓力——就像我們人類一樣。此外，深度攝影機位於手腕內側，用於視覺物體偵測。

Object detection by means of a neural network

With the help of the camera images, the robot hand can recognize and grip various objects, even if they are partially covered. After appropriate training, the hand can also assess the objects on the basis of the recorded data and thus distinguish good from bad, for example. The information is processed by the neural network, which was trained in advance using data augmentation.

Extensive data sets through data augmentation

In order to achieve the best possible results, the neural network needs a lot of information with which it can orient itself. This means the more training images are available to it, the more reliable it becomes. Since this is usually time-consuming, automatic augmentation of the database is a good idea.

This procedure is called data augmentation. By marginally modifying a few source images – for example, with different backgrounds, lighting conditions or viewing angles – and duplicating them, the system obtains a comprehensive data set with which it can work independently.

Mobile use at changing locations

The system has its entire power supply on board: the battery for the arm and robot sits inside the body. The compressed air cartridge for the pneumatic hand is installed in the upper arm. This means that the robot is not only mobile, it can also move autonomously.

The algorithms stored on the master computer also control the autonomous movements of the system. With a view to the future, they plan how the arm and the ball must move in order to reach certain target points while maintaining balance. With the help of two cameras, the robot orients itself independently in space: one camera searches for predefined fixed points in the environment to position itself autonomously, while a second camera uses the ceiling structure to estimate movement.

Its mobility and autonomous energy supply enable the BionicMobileAssistant to be used flexibly for different tasks at changing locations – in line with the constantly changing production environment.

Versatile application possibilities

The system would be predestined for use as a direct assistant to humans, for example as a service robot, as a helping hand in assembly or to support workers in ergonomically stressful or monotonous work. It could also be used in environments where people cannot work, for example due to hazards or limited accessibility.

Hand in hand with humans

Thanks to its modular concept, the BionicSoftHand 2.0 can also be quickly mounted and commissioned on other robot arms. Combined with the BionicCobot or the BionicSoftArm, the gripper forms, for example, a completely pneumatic robot system that can work hand in hand with humans due to its inherent flexibility.