A Neuromorphic Controller with On-Chip Learning for Robot Motion Control

Motion control is one of the most fundamental issues in robotics, with kinematics and dynamics serving as its core components. While most existing control systems rely on general-purpose processors with large areas and high power consumption. This paper proposes a neuromorphic controller with on-chip learning, satisfying the requirements of high control performance and low cost for robot motion control. The proposed controller consists of an Operational Space Control (OSC) unit and a Spiking Neural Networks (SNNs) processing unit, offering kinematic and dynamic motion control across different (4, 6, 7, and 9) Degrees of Freedom (DoF). Under external disturbances, its control precision and the convergence speed are enhanced by 2.83× and 1.78×, respectively, compared to standard proportional integrated-error derivative (PID) OSC controller. The controller is simulated under 40 nm CMOS technology, occupying a core area of 0.755 mm<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> and consuming 2.4 mW of power at a frequency of 100 MHz. Compared with other chips used for robot motion control, the proposed controller achieves 2.15× and 65× enhancements in core area and power consumption.