Notebook
Bring-up logs, root-cause write-ups and the GaN-over-silicon thesis, written for engineers who want the schematic, not the slogan.
Humanoid Market: GaN Demand by BOM Block
A market that grows from under a billion dollars to fifty one billion in a decade is not a market for GaN....
Joint Drive Decentralization Is Thermal
Moving the inverter into the joint is not a design philosophy. It is a consequence of removing the heat sink, and the...
GaN Dead Time: Where Efficiency Is Won
A GaN half bridge wants roughly half the dead time of silicon, and in EPC's measurement every 10 ns of total dead...
Monolithic GaN Inverter Layout at 2 ns
A monolithic GaN power stage makes a compact three phase inverter possible, and the same switching speed that buys the efficiency is...
Every Joint in the Asimov Humanoid, Mapped
For the first time a complete humanoid actuator set is public, part numbers included, and part numbers lead to datasheets.
How We Are Commissioning ulna
The first ulna-60-30 boards on the bench: a wrong regulator, a layout that only phase V could expose, and the buses that...
Switching Frequency vs Thermal Headroom
Doubling the PWM frequency added about ten degrees at the case of a GaN half bridge; bolting on a heatsink took thirty...
Servo Loop Partitioning in Robot Joints
Two choices set the ceiling on a servo drive before any code is written: which side of the domain boundary each control...
Functional Safety as a 415 ms Budget
The most useful way to think about functional safety in a mobile robot drive is as a timing budget that propagates backward...