Using floating-gate based programmable analog arrays for real-time control of a game-playing robot

This paper presents preliminary results of a mobile manipulator robot tasked to play the classic Towers of Hanoi game. We first discuss the control algorithms necessary to enable necessary game-playing behavior and provide results of implementing our methodology in a high fidelity 3D environment. After attaining success in the simulation environment, we provide results on implementation of the same control software using physical robot hardware. Additionally, preliminary analysis for implementing analog Proportional-Integral-Derivative (PID) control on this platform using a floating-gate based reconfigurable analog IC is explored. Using this concept of floating gate analog arrays for control enables off-loading of the processing, which could be helpful for real-time implementation of robot behavior.