@conference {karpelson2011low, title = {Low power control IC for efficient high-voltage piezoelectric driving in a flying robotic insect}, booktitle = {2011 Symposium on VLSI Circuits-Digest of Technical Papers}, year = {2011}, pages = {178{\textendash}179}, publisher = {IEEE}, organization = {IEEE}, abstract = {A dual-channel, low power control IC for driving high voltage piezoelectric actuators in a flapping-wing robotic insect is presented. The IC controls milligram-scale power electronics that meet the stringent weight and power requirements of aerial microrobots. Designed in a 0.13{\textmu}m CMOS process, the IC implements an efficient control algorithm to drive piezoelectric actuators with high temporal resolution while consuming <100{\textmu}W during normal operation at 1.0V. Keywords: low power, SOC, high voltage, piezoelectric actuator, and microrobotics.}, author = {Karpelson, Michael and Wood, Robert J and Gu Wei} }