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.

用于移动机器人系统的算法通常在纯数字计算平台上实现。开发替代计算平台可能会导致能源效率更高和响应更快的移动机器人。在这里，我们报告了一个由混合忆阻器在移动倒立摆机器人上启用的混合模数计算平台。我们的移动机器人系统可以使用无模型优化方法来自适应地调整忆阻器的电导状态，以实现最佳控制性能。我们在我们的混合模数计算平台上实现了传感器融合和运动控制算法，并展示了速度和能源效率比传统数字平台提高了一个数量级以上。