Kale Harbick

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This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, has been implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The(More)
The hopping machine considered in this paper is like a pogo-stick; it has a small foot and a leg spring. Unlike a pogo-stick which uses a mechanical spring, the spring for the hopper is pneumatic. The controller is based on Raibert’s three-part control system [1]. Raibert controlled hopping height by delivering a specified thrust value during stance. This(More)
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