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

Buyun Chen; Hao Yang; Boxiang Song; Deming Meng; Xiaodong Yan; Yuanrui Li; Yunxiang Wang; Pan Hu; Tse Hsien Ou; Mark Barnell; Qing Wu; Han Wang; Wei Wu

doi:10.1126/SCIROBOTICS.ABB6938

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

Buyun Chen
, Hao Yang
, Boxiang Song
, Deming Meng
, Xiaodong Yan
, Yuanrui Li
, Yunxiang Wang
, Pan Hu
, Tse Hsien Ou
, Mark Barnell
, Qing Wu
, Han Wang
, Wei Wu

Research output: Contribution to journal › Article › peer-review

47 Scopus citations

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.

Original language	English (US)
Article number	abb6938
Journal	Science Robotics
Volume	5
Issue number	47
DOIs	https://doi.org/10.1126/SCIROBOTICS.ABB6938
State	Published - Oct 21 2020
Externally published	Yes

ASJC Scopus subject areas

General Medicine

Access to Document

10.1126/SCIROBOTICS.ABB6938

Cite this

@article{d9641d2117944929b86cd6efe14257bb,

title = "A memristor-based hybrid analog-digital computing platform for mobile robotics",

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.",

author = "Buyun Chen and Hao Yang and Boxiang Song and Deming Meng and Xiaodong Yan and Yuanrui Li and Yunxiang Wang and Pan Hu and Ou, \{Tse Hsien\} and Mark Barnell and Qing Wu and Han Wang and Wei Wu",

note = "Publisher Copyright: Copyright {\textcopyright} 2020 The Authors, some rights reserved.",

year = "2020",

month = oct,

day = "21",

doi = "10.1126/SCIROBOTICS.ABB6938",

language = "English (US)",

volume = "5",

journal = "Science Robotics",

issn = "2470-9476",

publisher = "American Association for the Advancement of Science",

number = "47",

}

TY - JOUR

T1 - A memristor-based hybrid analog-digital computing platform for mobile robotics

AU - Chen, Buyun

AU - Yang, Hao

AU - Song, Boxiang

AU - Meng, Deming

AU - Yan, Xiaodong

AU - Li, Yuanrui

AU - Wang, Yunxiang

AU - Hu, Pan

AU - Ou, Tse Hsien

AU - Barnell, Mark

AU - Wu, Qing

AU - Wang, Han

AU - Wu, Wei

PY - 2020/10/21

Y1 - 2020/10/21

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85094153211

UR - https://www.scopus.com/pages/publications/85094153211#tab=citedBy

U2 - 10.1126/SCIROBOTICS.ABB6938

DO - 10.1126/SCIROBOTICS.ABB6938

M3 - Article

C2 - 33087481

AN - SCOPUS:85094153211

SN - 2470-9476

VL - 5

JO - Science Robotics

JF - Science Robotics

IS - 47

M1 - abb6938

ER -

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

Abstract

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this