A memristor-based hybrid analog-digital computing platform for mobile robotics

被引：40

作者：

Chen, Buyun ^{[1
]}

Yang, Hao ^{[1
]}

Song, Boxiang ^{[1
]}

Meng, Deming ^{[1
]}

Yan, Xiaodong ^{[1
]}

Li, Yuanrui ^{[1
]}

Wang, Yunxiang ^{[1
]}

Hu, Pan ^{[1
]}

Ou, Tse-Hsien ^{[1
]}

Barnell, Mark ^{[2
]}

Wu, Qing ^{[2
]}

Wang, Han ^{[1
]}

Wu, Wei ^{[1
]}

机构：

[1] Univ Southern Calif, Ming Hsieh Dept Elect & Comp Engn, Los Angeles, CA 90089 USA

[2] Air Force Res Lab, Informat Directorate, Rome, NY 13441 USA

来源：

SCIENCE ROBOTICS | 2020年 / 5卷 / 47期

关键词：

WALKING ROBOT; NETWORKS;

D O I：

10.1126/scirobotics.abb6938

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Algorithms for mobile robotic systems are generally implemented on purely digital computing platforms. Developing alternative computational platforms may lead to more energy-efficient and responsive mobile robotics. Here, we report a hybrid analog-digital computing platform enabled by memristors on a mobile inverted pendulum robot. Our mobile robotic system can tune the conductance states of memristors adaptively using a model-free optimization method to achieve optimal control performance. We implement sensor fusion and the motion control algorithms on our hybrid analog-digital computing platform and demonstrate more than one order of magnitude enhancement of speed and energy efficiency over traditional digital platforms.

引用

页数：7

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