Computer Engineering Commons^™

Sabr: Development Of A Neuromorphic Balancing Robot, Alec Yen, Yaw Mensah, Mark Dean

EURēCA: Exhibition of Undergraduate Research and Creative Achievement

We discuss the development of a self-adjusted balancing robot (SABR) using a neuromorphic computing framework for control. Implementations of two-wheeled balancing robots have been achieved using traditional algorithms, often in the form of proportional-integral-derivative (PID) control. We aim to achieve the same task using a neuromorphic architecture, which offers potential for higher power efficiency than conventional processing techniques. We utilize evolutionary optimization (EO) and the second iteration of Dynamic Adaptive Neural Network Arrays (DANNA2) developed by the Laboratory of Tennesseans Exploring Neural Networks (TENNLab). For the purpose of comparison, a traditional balancing robot was first designed using PID control; the …