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)
We describe a model-based height controller for a hopping robot with a pneumatically powered leg. The controller explicitly models variation in the leg angle and height. Using an explicit model of the physics of the pneumatic spring and some symmetry assumptions, we derive the desired leg-length setting to regulate apex hopping height using a PD controller.… (More)
This paper describes a model-based height controller for a one-legged hopping robot. Equations of motion in two dimensions (i.e. the sagittal plane) are developed. These equations are solved and numerically integrated to produce an actuator command that will allow the robot to regulate its apex height.
This paper describes a model-based height controller for a one-legged hopping robot. Equations of motion in one dimension (i.e. vertical) are developed. These equations are solved and numerically integrated to produce an actuator command that allows the robot to regulate its apex height. Within limits, the resulting control is effective for lateral hopping… (More)
We discuss a speed controller for a hopping robot with a pneumatically powered leg. The controller uses a neural network to model the neutral point as a function of running speed and hopping height. The network is trained off-line using training data taken from a simulated hopper that is manually controlled by a human. Simulation experiments of hopping in… (More)
We explore the robustness of a control system for a pneumatic monopod simulation by adding Gaussian noise to the sensors and actuators. The control system is based on Raibert's three-part control system decomposition; with significant modifications to two of the control loops. Our speed controller uses a neural network to approximate the neutral point… (More)