Robot control system and method based on memristor intersection array

Abstract

The invention discloses a robot control system and method based on a memristor intersection array. The system involves a sensor group, an input sensing signal modulator, a neuromorphic circuit, an output control signal modulator, an output device, an external supervision module and a training controller; and control of a robot is performed by the neuromorphic circuit, and the main part of the neuromorphic circuit is the memristor intersection array with a fully connected neural network structure. A differential amplification circuit and a multiplexing switch in the neuromorphic circuit are connected to the memristor intersection array, an input signal vector is multiplied with a weight matrix stored in the memristor intersection array, and then one or more analog output signals are obtained through the differential amplification circuit. According to the robot control system and method, the memristor neuromorphic circuit is used for reducing the power consumption of an existing robot control system in performing neural network operation; and memristors are directly used for simulating the weight in a biological neural network, the complexity is effectively reduced, and the responsespeed is improved.

Description

technical field [0001] The invention relates to the field of automatic control of a memristive cross array, in particular to a robot control system and method based on a memristive cross array. Background technique [0002] The existing intelligent robot technology is a digital control circuit with a digital processor as the core in terms of hardware, and realizes intelligent applications based on various neural network algorithms in terms of software. As this kind of robot driven by neural network algorithm, it is required to have low power consumption and fast processing speed; on the current robot and other application platforms, relying on the existing digital control circuit to drive the neural network algorithm has brought severe problems to its hardware. challenge. [0003] At the software level of this type of intelligent robot, it includes complex information processing and a large number of calculations. Its information control flow proceeds as described below. ...

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Problems solved by technology

[0007] Purpose of the invention: In order to overcome the deficiencies of the prior art, the present invention provides a robot control system based on a memristive cross array, which solves the problems of high power consumption, high complexity, and slow response in the prior art. The invention also provides a robot control method based on the memristive cross array

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