Research ArticleROBOTIC CONTROL

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

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Science Robotics  21 Oct 2020:
Vol. 5, Issue 47, eabb6938
DOI: 10.1126/scirobotics.abb6938

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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.

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