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)
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)
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