— This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control arch...
We present a new technique for generating compact dictionaries for cause-effect diagnosis in BIST. This approach relies on the use of three compact dictionaries: (i) D1, containin...
Several methods improving the fault coverage in mixed-mode BIST are presented in this paper. The test is divided into two phases: the pseudo-random and deterministic. Maximum of f...
System-on-chip (SOC) design methodology is becoming the trend in the IC industry. Integrating reusable cores from multiple sources is essential in SOC design, and different design...
We introduce a new method of a biped walking pattern generation by using a preview control of the zeromoment point (ZMP). First, the dynamics of a biped robot is modeled as a runn...