A 34.7-mW quad-core MIQP solver processor for robot control

Abstract

We propose a quad-core mixed integer quadric programming (MIQP) solver processor. The MIQP solver is applicable to hybrid control systems including real-time control robotics. Using multi-core architecture, fixed-point calculations, and branch-and-bound method with high-dispersion performance while processing a 50-variable problem, our design achieves 34.7-mW operation at a frequency of 52 MHz in measurement results, although a core 2 duo PC requires 3.16 GHz to solve it as rapidly.