This paper demonstrates an on-chip electrical cold-start technique to achieve low-voltage and fast start up of a boost converter for autonomous thermal energy harvesting from human body heat. An improved charge transfer through high gate-boosted switches by means of cross-coupled complementary charge pumps enables voltage multiplication of the low input voltage during cold start. The start-up voltage multiplier operates with an on-chip clock generated by an ultra-low-voltage ring oscillator. The proposed cold-start scheme implemented in a general purpose 0.18μm CMOS process assists an inductive boost converter to start operation with a minimum input voltage of 57mV in 135 ms while consuming only 90 nJ of energy from the harvesting source, without using additional sources of energy or additional off-chip components.