4 accepted papers
In this letter, we propose an algorithm to estimate the distance between an aerial vehicle and a large obstacle using the self-induced noise present during the vehicle's normal operation. We demonstrate the feasibility of using the proposed estimation method in real-time as a feedback mechanism to a
In this paper we propose an algorithm to actively control the distance of a motor-propeller system (MPS) to a large obstacle using data from a single microphone. The method is based upon a broadband constructive/destructive interference pattern across the audible frequency band that is present when…
We present a method for designing a walking controller for the walking robot Cornell Ranger. Our goal is a controller that can be designed using model-based optimization, and then transferred directly to the robot without the need for after-the-fact hand-tuning. The structure of the controller is hi
We present an approach to high-level control for bipedal walking exemplified with a 2D point-mass inextensible-legs inverted-pendulum model. Balance control authority here is only from step position and trailing-leg push-off, both of which are bounded to reflect actuator limits. The controller is de…