An Optically Programmable SoC for an Autonomous mm3-Sized Microrobot

📋 论文概要

本文提出了一种光可编程的系统级芯片(SoC)，用于自主毫米级微机器人。该SoC集成了运动、感知、决策、通信等功能，解决了微型化组件、电源、传感器和执行器的集成难题，实现了首个23mm³、70mg的自主微机器人I-SWARM。

💡 主要创新点

• 采用光学编程技术实现对SoC的灵活配置，适应微机器人多种任务需求。
• 在极小的体积（23mm³）和重量（70mg）内高度集成全部电子系统，实现自主移动、感知、决策和协作。

🏷 关键词

📄 原文摘要

Miniaturizing its components, power source, sensors and actuators, has proven challenging. As a consequence, few autonomous microrobots have been reported until recently [1-3]. These are simple mobile platforms, without sensors on board. Their electronics are basically focused on motion. I-SWARM is the first autonomous microrobot, 23mm3 and 70mg, designed to move, sense, take decisions, communicate and work in cooperation with other I-SWARM microrobots [4]. The area and weight of a microrobot are critical and limits the use of off-the-shelf components. So, it is required to integrate in a unique chip all the electronics, including the clock source, the POR and the voltage regulators. Figure 17.9.1 shows a picture of an I-SWARM. It is powered by an array of solar cells of 3.9×3.9mm2 and has to work in a controlled area, the size of an

👥 作者与机构

R. Casanova, A. Dieguez, A. Arbat, O. Alonso, A. Sanuy, J. Canals, J. Samitier

University of Barcelona, Barcelona, Spain A microrobot is a robot under a few cubic millimeters in size