A Self-Driving Robot Using Deep Convolutional Neural Networks on Neuromorphic Hardware

11/04/2016
by   Tiffany Hwu, et al.
0

Neuromorphic computing is a promising solution for reducing the size, weight and power of mobile embedded systems. In this paper, we introduce a realization of such a system by creating the first closed-loop battery-powered communication system between an IBM TrueNorth NS1e and an autonomous Android-Based Robotics platform. Using this system, we constructed a dataset of path following behavior by manually driving the Android-Based robot along steep mountain trails and recording video frames from the camera mounted on the robot along with the corresponding motor commands. We used this dataset to train a deep convolutional neural network implemented on the TrueNorth NS1e. The NS1e, which was mounted on the robot and powered by the robot's battery, resulted in a self-driving robot that could successfully traverse a steep mountain path in real time. To our knowledge, this represents the first time the TrueNorth NS1e neuromorphic chip has been embedded on a mobile platform under closed-loop control.

READ FULL TEXT

page 2

page 3

page 4

research
01/19/2016

Scalability in Neural Control of Musculoskeletal Robots

Anthropomimetic robots are robots that sense, behave, interact and feel ...
research
12/10/2018

Real-time Closed Loop Neural Decoding on a Neuromorphic Chip

This paper presents for the first time a real-time closed loop neuromorp...
research
01/12/2021

Embedded Computer Vision System Applied to a Four-Legged Line Follower Robot

Robotics can be defined as the connection of perception to action. Takin...
research
09/09/2019

A Convolutional Neural Network Approach Towards Self-Driving Cars

A convolutional neural network (CNN) approach is used to implement a lev...
research
08/08/2019

An Insect-scale Self-sufficient Rolling Microrobot

We design an insect-sized rolling microrobot driven by continuously rota...
research
08/06/2020

On the Battery Consumption of Mobile Browsers

Mobile web browsing has recently surpassed desktop browsing both in term...

Please sign up or login with your details

Forgot password? Click here to reset