Laszlo F. Nagy

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This paper deals with the foot force sensor measurement analysis. The crucial information obtained from this measurement is the position of the ZMP that provides information about the biped's dynamic balance. The previously developed foot force sensors introduce a systematic error because of the way the sensors are mounted. This kind of error can be(More)
A new very low power impulse radio ultra-wideband (IR-UWB) pulse generator is investigated in the paper. The low complexity and tunable architecture is composed of a glitch generator, a switched ring oscillator, a two-stage energy efficient buffer and a pulse shaping filter (two versions). It is designed and simulated in low-cost 0.18 μm UMC CMOS(More)
A two degrees of freedom inverted pendulum, standing on its flat foot is considered in this paper. The foot is equipped with force sensors in order to measure the vertical component of the ground reaction. The complete dynamics of the system is simulated. The usage possibility of such future measurements were further analyzed through simulation, using(More)
A novel energy-efficient tunable impulse radio ultra wide band (IR-UWB) pulse generator (PG) for the high data rate 3.1 − 7.5 GHz band applications is proposed. Glitch generator, switched ring oscillator, buffer and pulse shaping filter are the key components. The circuit is scalable both in bandwidth and center frequency. The glitch generator combines(More)
In this paper, we present a miniaturized version of a previously developed ground reaction force sensor. The sensor is composed of two pairs of meander coils detecting displacement in a plane. One pair of coils determines vertical displacement, proportional to normal force distribution, while the other pair of coils determines horizontal displacement,(More)
This paper presents a new structure of foot force sensors for bipedal robots. The sensor has a property of passive compliance. Passive compliance is achieved with two kinds of elastic elements. The first is a metal plate and the second is a rubber elastic element. Sensing elements are reflex couplers. They measure the deformation of the rubber elastic(More)
This paper presents a planar displacement inductive sensor for the detection of small displacements (less than 0.5 mm) in a plane, usable in robotics. It also describes design, realization and the input inductance measurement of the sensor. Displacement in two directions could be detected using two sensor elements. Each element consists of a pair of meander(More)
In this paper, a low-noise amplifier (LNA) designed for the lower band of the ultra-wideband (UWB) spectrum and implemented in 0.18 &#x03BC;m CMOS process is presented. Post-layout simulations show a power gain (S<sub>21</sub>) of 11.18 dB with 0.8 dB value variations from 259 MHz to 5 GHz. The input and output return losses, S<sub>11</sub> and(More)
There is a growing interest towards humanoid robots. Our intention is to build and explore as much as possible, relatively simple elements of humanoid robots in order to gain a better understanding of their characteristics and possibilities of control. In this paper, an experiment platform of a sensored robot foot is presented. Our goal is to explore the(More)
A CMOS three-stage ring oscillator is examined in UMC 0.13 μm and 0.18 μm technologies. The influence of PMOS transistor and resistor, as inverter feedbacks, on the ring oscillator frequency and the peak-to-peak amplitude is investigated in both technologies. Furthermore, as the ring oscillator usually drives a buffer in pulse generator/transmitter chain,(More)