用脉冲神经网络实现7自由度机械臂的低功耗实时控制

The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque space of robotic systems. Traditional methods for solving it rely on direct physical modeling of robots which is difficult or even impossible due to nonlinearity and external disturbance. Recently, data-based model-learning algorithms are adopted to address this issue. However, they often require manual parameter tuning and high computational costs. Neuromorphic computing is inherently suitable to process spatiotemporal features in robot motion control at extremely low costs. However, current research is still in its infancy: existing works control only low-degree-of-freedom systems and lack performance quantification and comparison. In this paper, we propose a neuromorphic control framework to control 7 degree-of-freedom robotic manipulators. We use Spiking Neural Network to leverage the spatiotemporal continuity of the motion data to improve control accuracy, and eliminate manual parameters tuning. We validated the algorithm on two robotic platforms, which reduces torque prediction error by at least 60% and performs a target position tracking task successfully. This work advances embodied neuromorphic control by one step forward from proof of concept to applications in complex real-world tasks.