A monolithic control circuit for a 1cm3 microrobot for biological experiments

Author

Casanova, R. ; Dieguez, A. ; Lacort, J. ; Arbat, A. ; Puig-Vidal, M. ; Samitier, J. ; Nierlich, M. ; Steinmetz, O.

Author_Institution

Dept. of Electron., Barcelona Univ.

fYear

2005

fDate

1-3 Nov. 2005

Firstpage

93

Lastpage

96

Abstract

A digital controller for a 1 cm microrobot fabricated in a 0.35mum CMOS process is presented. The robot is provided with two piezoactuators based on stick-slip and non-sliding movement: a carrier platform and a rotor to position an arm provided with a nanomanipulation tool as an AFM tip. The control signals are generated by the controller chip using the Bresenham algorithm. It has been adapted to the robot movements improving the power consumption. Power reduction is of at least 30%

Keywords

CMOS integrated circuits; controllers; microrobots; piezoelectric actuators; rotors; 0.35 micron; 1 cm; AFM tip; Bresenham algorithm; CMOS process; biological experiments; control signals; controller chip; digital controller; microrobot; monolithic control circuit; nanomanipulation tool; nonsliding movement; piezoactuators; robot movements; rotor; stick-slip movement; Actuators; Biological control systems; CMOS process; Circuits; Intelligent robots; Nanobioscience; Robot control; Robot sensing systems; Rotors; Signal generators;

fLanguage

English

Publisher

ieee

Conference_Titel

Asian Solid-State Circuits Conference, 2005

Conference_Location

Hsinchu

Print_ISBN

0-7803-9162-4

Electronic_ISBN

0-7803-9163-2

Type

conf

DOI

10.1109/ASSCC.2005.251815

Filename

4017539