Noah
The harrier "puffer pipe" system would work but not real good.Take a look at Eric Dainty's Harrier link that is on my webpage and go towards the bottom of his page and you can see to avi's of his flying .He makes a wobbly leap into the air and then comes bouncing back to the ground for a landing.True it is a real feat that he has done ,but even he will tell you that it is not what he wants the bird to do.At any rate take a look at his system for the roll and yaw and pitch moments.They really are quite unique and might just work for what you want to do.
Good luck
Larry