Towards a legged chip

Author

Datta, Timir ; Abshire, Pamela ; Turner, John A.

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Maryland, Coll. Park, College Park, MD, USA

fYear

2011

fDate

15-18 May 2011

Firstpage

2501

Lastpage

2504

Abstract

We describe a substrate for a Legged Chip, a CMOS integrated circuit with built in actuation mechanisms for motion. We have designed and fabricated a custom integrated circuit using a commercial 0.5μm CMOS technology which implements walking gait control. The circuit specifications and physical implementation have been designed to take into consideration the addition of thermal actuators through low- temperature MEMS surface processing on fabricated CMOS dies. External connections will be limited to two leads for providing power and ground. This work represents progress towards a fully autonomous mobile integrated circuit.

Keywords

CMOS integrated circuits; gait analysis; integrated circuit design; legged locomotion; microactuators; microrobots; CMOS dies; CMOS integrated circuit; fully autonomous mobile integrated circuit; legged chip; low- temperature MEMS surface processing; mobile microrobots; size 0.5 mum; thermal actuators; walking gait control; Actuators; CMOS integrated circuits; Force; Leg; Legged locomotion; Micromechanical devices;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems (ISCAS), 2011 IEEE International Symposium on

Conference_Location

Rio de Janeiro

ISSN

0271-4302

Print_ISBN

978-1-4244-9473-6

Electronic_ISBN

0271-4302

Type

conf

DOI

10.1109/ISCAS.2011.5938112

Filename

5938112