In:
Science Robotics, American Association for the Advancement of Science (AAAS), Vol. 5, No. 47 ( 2020-10-21)
Abstract:
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.
Type of Medium:
Online Resource
ISSN:
2470-9476
DOI:
10.1126/scirobotics.abb6938
Language:
English
Publisher:
American Association for the Advancement of Science (AAAS)
Publication Date:
2020
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