Ayonga Hereid

Publication Activity (10 Years)

Years Active: 2013-2024
Publications (10 Years): 57

Top Topics

Reinforcement Learning

Inverted Pendulum

Top Venues

Publications

Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. ICRA (2024)
Chengyang Peng, Victor Paredes, Ayonga Hereid
Unified Path and Gait Planning for Safe Bipedal Robot Navigation. CoRR (2024)
Zhaoyang Xiang, Victor Paredes, Ayonga Hereid
Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds. CoRR (2024)
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. ICRA (2024)
Chengyang Peng, Octavian A. Donca, Guillermo A. Castillo, Ayonga Hereid
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. ICRA (2023)
Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. CoRR (2023)
Yuan Gao, Yukai Gong, Victor Paredes, Ayonga Hereid, Yan Gu
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface. ACC (2023)
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. IROS (2023)
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. CoRR (2023)
Victor Paredes, Ayonga Hereid
Safe Whole-Body Task Space Control for Humanoid Robots. CoRR (2023)
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots. IEEE Trans. Robotics 39 (4) (2023)
Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya
MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. IROS (2023)
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. CoRR (2023)
Victor Paredes, Ayonga Hereid
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. CoRR (2022)
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. IEEE Robotics Autom. Lett. 7 (2) (2022)
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness. CoRR (2022)
Octavian A. Donca, Chayapol Beokhaimook, Ayonga Hereid
Real-Time Navigation for Bipedal Robots in Dynamic Environments. CoRR (2022)
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion. IEEE Access 10 (2022)
Yuan Gao, Yukai Gong, Victor Paredes, Ayonga Hereid, Yan Gu
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface. CoRR (2022)
Chengyang Peng, Octavian Donca, Ayonga Hereid
Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression. CoRR (2022)
Victor C. Paredes, Ayonga Hereid
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. IROS (2022)
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. CoRR (2022)
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. IROS (2022)
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. CoRR (2021)
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. IROS (2021)
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. CoRR (2021)
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. IROS (2021)
Kirtankumar Thakkar, Victor Paredes, Ayonga Hereid
Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty. CoRR (2021)
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. CoRR (2021)
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. ICRA (2020)
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. CoRR (2020)
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. IROS (2020)
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. CoRR (2019)
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy W. Grizzle
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. ACC (2019)
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle
Rapid Trajectory optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. IROS (2019)
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Zheng Wang, Wei Zhang
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. ICRA (2019)
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle
Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot. CoRR (2018)
Ayonga Hereid, Christian M. Hubicki, Eric A. Cousineau, Aaron D. Ames
Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. IEEE Trans. Robotics 34 (2) (2018)
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. CoRR (2018)
Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy W. Grizzle, Aaron D. Ames
Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. ICRA (2018)
Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. ACC (2018)
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR (2018)
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy W. Grizzle
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. CoRR (2018)
Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access 5 (2017)
Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames
Corrigendum: Multi-contact bipedal robotic locomotion. Robotica 35 (8) (2017)
Yuxiao Chen, Ayonga Hereid, Huei Peng, Jessy W. Grizzle
Synthesis of safe controller via supervised learning for truck lateral control. CoRR (2017)
Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames
Multi-contact bipedal robotic locomotion. Robotica 35 (5) (2017)
Ayonga Hereid, Aaron D. Ames
FROST∗: Fast robot optimization and simulation toolkit. IROS (2017)
Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath
3D dynamic walking on stepping stones with control barrier functions. CDC (2016)
Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. ACC (2016)
Jacob Reher, Eric A. Cousineau, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. ICRA (2016)
Huihua Zhao, Ayonga Hereid, Eric R. Ambrose, Aaron D. Ames
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. CDC (2016)
Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. ICRA (2016)
Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames
Efficient HZD gait generation for three-dimensional underactuated humanoid running. IROS (2016)
Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. CDC (2016)
Christian M. Hubicki, Ayonga Hereid, Michael X. Grey, Andrea Lockerd Thomaz, Aaron D. Ames
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. ICRA (2016)
Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. WAFR (2016)
Neil T. Dantam, Daniel M. Lofaro, Ayonga Hereid, Paul Y. Oh, Aaron D. Ames, Mike Stilman
The Ach Library: A New Framework for Real-Time Communication. IEEE Robotics Autom. Mag. 22 (1) (2015)
Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA (2015)
Ayonga Hereid, Matthew J. Powell, Aaron D. Ames
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. CDC (2014)
Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC (2014)
Matthew J. Powell, Ayonga Hereid, Aaron D. Ames
Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. ICRA (2013)
Neil Dantam, Ayonga Hereid, Aaron D. Ames, Mike Stilman
Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. Robotics: Science and Systems (2013)