2012 · 14 citations · 9 references
EngineeringComputer EngineeringRobotics EngineeringHumanoid RoboticsReal-time SystemsSystem-on-chip DesignHardware Fault TolerancePeripheral InterfacingReal-time Systems ArchitectureReliable System DesignSensor IntegrationSensor InterfacingError Correction CircuitsFlash MemoryMicrocontroller PeripheralsPeripheral IntegrationReal-time CommunicationReal-time Hardware ArchitectureReal-time ProcessingVoltage Sensors
In this paper, we describe design and implementation of the Dependable Responsive Multithreaded Processor (D-RMTP) SoC (System-on-a-Chip) and SiP (System-in-a-Package). The D-RMTP SoC provides almost all functions required for the humanoid robots, including a real-time processing unit, a real-time inter-node communication link with error correction, and various I/O peripherals. The D-RMTP SoC is implemented in a 10mm × 10mm chip with a TSMC 130nm process technology. The D-RMTP SiP implemented in a 30mm × 30mm board integrates the D-RMTP SoC, DDR-SDRAM, flash memory, power supply circuit, and temperature and voltage sensors for reliable DVFS.
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Dean M. Tullsen, Susan J. Eggers, Henry M. Levy · 1995 · 1.4K citations · Full text
Energy efficient CMOS microprocessor design
Tom Burd, R.W. Brodersen · 1995 · 406 citations
Engineering, Computer Engineering, Electrical Engineering +17
An advanced musculoskeletal humanoid Kojiro
Ikuo Mizuuchi, Yuto Nakanishi, Yoshinao Sodeyama et al. · 2007 · 163 citations
Engineering, Mechatronics Engineering, Robotics Engineering +15