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This paper proposes a high-efficiency dual-band on-chip rectifying antenna (rectenna) at 35 and 94 GHz for wireless power transmission. The rectenna is designed in slotline (SL) and finite-width ground coplanar waveguide (FGCPW) transmission lines in a CMOS 0.13-μm process. The rectenna comprises a high gain linear tapered slot antenna (LTSA), an FGCPW to SL transition, a bandpass filter, and a full-wave rectifier. The LTSA achieves a VSWR=2 fractional bandwidth of 82% and 41%, and a gain of 7.4 and 6.5 dBi at the frequencies of 35 and 94 GHz. The measured power conversion efficiencies are 53% and 37% in free space at 35 and 94 GHz, while the incident radiation power density is 30 mW/cm2 . The fabricated rectenna occupies a compact size of 2.9 mm2.