A Mixed-signal 3D Footstep Planning SoC for Motion Control of Humanoid Robots with Embedded Zero-Moment-Point based Gait Scheduler and Neural Inverse Kinematics

摘要

This work presents a footstep planning SoC chip for humanoid robot. A time-domain graph search engine for 3D footstep planning and mixed-signal zero moment point (ZMP) gait scheduler with neural inverse kinematics is developed for efficient robot motion control. A 65nm SoC chip is fabricated and demonstrated in-situ on a humanoid robot with the state-of-the-art search rate and energy efficiency for humanoid robot control and footstep planning.