A memristor-based hybrid analog-digital computing platform for mobile robotics
| Autor: | Yuanrui Li, Yunxiang Wang, Han Wang, Deming Meng, Boxiang Song, Pan Hu, Qing Wu, Wei Wu, Hao Yang, Tse-Hsien Ou, Xiaodong Yan, Mark Barnell, Buyun Chen |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science business.industry Mechanical Engineering Robotics 02 engineering and technology Memristor 021001 nanoscience & nanotechnology Motion control Sensor fusion Optimal control Computer Science Applications Inverted pendulum law.invention 020901 industrial engineering & automation Artificial Intelligence law Robot Artificial intelligence 0210 nano-technology business Computer hardware Efficient energy use |
| Zdroj: | Science robotics. 5(47) |
| ISSN: | 2470-9476 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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