— We present a cascaded control architecture for a Yamaha RMAX robotic helicopter. The controller is composed of an inner-loop that stabilizes the unstable poles of the helicopte...
Marcel Bergerman, Omead Amidi, James Ryan Miller, ...
— Legged robots have the potential to navigate a much larger variety of terrain than their wheeled counterparts. In this paper we present a hierarchical control architecture that...
This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic system. The spherical robot is driven by two remotely controll...
This paper presents a flight rnanageiiient system (FhIS) iinpleniented as on-board intelligence for rotorcraft-based unmanned aerial vehicles (RUAVs), in order to gradually ilen a...
— Many critical elements for statically stable walking for legged robots have been known for a long time, including stability criteria based on support polygons, good foothold se...
Jonas Buchli, Mrinal Kalakrishnan, Michael Mistry,...