To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive attitude control using sensory information (feedback control) is indispensable. In this paper, we initially propose a new trajectory planning for the stable trot gait named 3D sway compensation trajectory, and show th...

In this paper, the authors describe the design and control of RHex, a power autonomous, untethered, compliant-legged hexapod robot. RHex has only six actuators—one motor located at each hip—achieving mechanical simplicity that promotes reliable and robust operation in real-world tasks. Empirically stable and highly maneuverable locomotion arises from a very simple clock-driven, openloop tripod ...

We study the e↵ects of local partisanship in a model of electoral competition. Voters care about policy, but they also care about the identity of the party in power. These party preferences vary from person to person, but they are also correlated within each state or congressional district. As a result, most districts are biassed toward one party or the other (in popular parlance, most states a...

A BiCMOS temperature stable voltage-tofrequency converter is described. The circuit includes an input voltage-to-current conversion stage followed by a voltage-controlled current switch. The switch is controlled by a nonsaturated multivibrator with a limiter of the output voltage swing. The multivibrator thresholds are stabilized using a current produced in a bandgap voltage reference. This all...

CP measurements show that PBTI stress induced interface trap area density ΔNit in InGaAs/Al2O3 n-MOSFET is very small and has power law time evolution At in the stress phase, and is partially recovered in the recovery phase. However the DC Is-Vg measurements show large degradations of negative ΔVg and sub-threshold swing S in the sub-threshold region and are recovered in the recovery phase, als...

Reversible CO2 capture and release under ambient conditions is crucial for energy-efficient carbon storage. Here, we report the pressure swing crystallization of in a single-crystalline guanidinium sulfate-based clathrate salt practical 52 kPa 298 K, with high density (0.252 g cm−3) capacity (17 wt %). The captured released as pure stream through moderate means or temperature stimulation, all w...

virtual synchronous generators (VSGs) powered by renewable energy sources prefer to have storage attached the DC link with DC–DC converters, emulating inertia and smoothing intermittency of generations. This paper proposes a new VSG method for two-stage converter eliminate circulating power among inverters while having external characteristics identical those traditional VSG. In particular, pro...

A new dynamic differential logic family, Short-Circuit Current Logic (SCL), is proposed for low-power high-performance applications. It achieves low-power consumption by using an aggressively reduced logic swing without requiring restoration circuitry. Using a 0.35μm CMOS technology and a nominal supply voltage of 3.3V, a SCL full-adder 8 carry ripple adder (CRA) is implemented. It offers an or...

This p a p e r presents a low power, h i g h ga in and high CMRR ful ly differential ultra-wide bandwidth operational amplifier with wide dynamic range. The design uses two-stage gain, high swing common-mode feedback, ‘doublet-free’ pole-zero cancelation and gm–boosting techniques to increases the unity gain frequency. Design and implementation results for a 1.2GHz, 1.8V supply, fully different...

Behavior of low capacitance full-swing BiCMOS logic gate under various single stuck faults has been investigated in this paper. Results show that more than 65% stuck-on faults in logic circuits can be detected by monitoring the power supply current popularly known as IDDQ testing, but no logic monitoring is possible. Stuck-open faults in the logic MOS devices are detectable by logic monitoring ...