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This paper presents an off-board trajectory controller for a range of stride frequencies (2–45 Hz) that enables zero-radius turns and holonomic control on one of the smallest and fastest legged robots, the Harvard Ambulatory MicroRobot (HAMR). An experimental model is used as the basis for control to capture the highly nonlinear response of the robot to input signals. Closed-loop trajectories are...
This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered in this work is that altitude control can be translated into a problem of lift force control. Through analyses and experiments, we describe the proposed control strategy, which is fundamentally adaptive with...
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