FeFET-based Computing-in-Memory Solver for Autonomous Robotics Acceleration

Xueyang Bai, Bo Li, Wei Mao, Guoyong Shi, Genquan Han

Keywords: FeFET, motion control, robot computing, hardware-software co-design, computing-in-memory (CIM), autonomous system.

Abstract: In this paper, we present a Computing-in-Memory (CIM) linear equation solver circuit implemented in a ferroelectric field-effect transistor (FeFET) array which is used for robot arm motion control. Robotic motion control requires solving a forward/inverse problem described by a matrix-form second order differential equation. The acceleration vector can be obtained in real-time by solving a linear matrix equation. For real-time operation, non-CPU-based computation can reduce hardware cost and realize customized implementation. The proposed FeFET controller enables complex O(1) computation with a low-cost design. A software-hardware co-design method is presented, covering control problem formulation, solver array construction, circuit implementation, and system-level co-optimization. Simulation-based experimental results have demonstrated the feasibility of conceptual design, validating improved tolerance to solution error and power consumption comparing to the implementation based on other devices.

Submission Type: Novel research

Student Paper: Yes

Demo Or Video: No

Public Extended Abstract: No (Only the title, author list, and abstract will be released on OpenReview)

Submission Number: 7