Ayonga Hereid - RankMe

74 papers A* 12A 11C 7Journal 38Unranked 6

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds. CoRR Zhaoyang Xiang, Upama Pant, Ayonga Hereid
2025	A	`conf`	Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds. IROS Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid
2025	J	`jnl`	Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations. CoRR Guillermo A. Castillo, Himanshu Lodha, Ayonga Hereid
2025	A*	`conf`	Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions. ICRA Chengyang Peng, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid
2025	J	`jnl`	Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation. CoRR Chengyang Peng, Zhihao Zhang, Shiting Gong, Sankalp Agrawal, Keith A. Redmill, Ayonga Hereid
2025	J	`jnl`	Time-Varying Foot Placement Control for Humanoid Walking on Swaying Rigid Surface. IEEE Trans. Robotics Yuan Gao, Victor Paredes, Yukai Gong, Zijian He, Ayonga Hereid, Yan Gu
2024	J	`jnl`	Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds. CoRR Zhaoyang Xiang, Victor Paredes, Ayonga Hereid
2024	A*	`conf`	Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. ICRA Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2024	C	`conf`	Moving Past Point-Contacts: Extending the ALIP Model to Humanoids with Non-Trivial Feet Using Hierarchical, Full-Body Momentum Control. ACC Victor C. Paredes, Daniel A. Hagen, Samuel W. Chesebrough, Riley Swann, Denis Garagic, Ayonga Hereid
2024	J	`jnl`	Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control. CoRR Victor C. Paredes, Daniel A. Hagen, Samuel W. Chesebrough, Riley Swann, Denis Garagic, Ayonga Hereid
2024	J	`jnl`	Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions. CoRR Chengyang Peng, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid
2024	C	`conf`	Safe Whole-Body Task Space Control for Humanoid Robots. ACC Victor C. Paredes, Ayonga Hereid
2024	J	`jnl`	Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces. CoRR Yuan Gao, Victor Paredes, Yukai Gong, Zijian He, Ayonga Hereid, Yan Gu
2024	A*	`conf`	Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. ICRA Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid
2024	J	`jnl`	Unified Path and Gait Planning for Safe Bipedal Robot Navigation. CoRR Chengyang Peng, Victor Paredes, Ayonga Hereid
2023	J	`jnl`	Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. CoRR Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2023	A	`conf`	MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. IROS Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya
2023	J	`jnl`	On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots. IEEE Trans. Robotics Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
2023	A*	`conf`	Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. ICRA Chengyang Peng, Octavian A. Donca, Guillermo A. Castillo, Ayonga Hereid
2023	J	`jnl`	Safe Whole-Body Task Space Control for Humanoid Robots. CoRR Victor Paredes, Ayonga Hereid
2023	A	`conf`	Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. IROS Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid
2023	J	`jnl`	Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. CoRR Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid
2023	C	`conf`	Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface. ACC Yuan Gao, Yukai Gong, Victor Paredes, Ayonga Hereid, Yan Gu
2023	J	`jnl`	Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. CoRR Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid
2022	J	`jnl`	Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. IEEE Robotics Autom. Lett. Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
2022	A	`conf`	On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. IROS Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
2022	J	`jnl`	On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. CoRR Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
2022	J	`jnl`	Real-Time Navigation for Bipedal Robots in Dynamic Environments. CoRR Octavian A. Donca, Chayapol Beokhaimook, Ayonga Hereid
2022	J	`jnl`	Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion. IEEE Access Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2022	A	`conf`	Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. IROS Victor C. Paredes, Ayonga Hereid
2022	J	`jnl`	Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. CoRR Victor Paredes, Ayonga Hereid
2022	J	`jnl`	Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness. CoRR Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid
2022	J	`jnl`	Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression. CoRR Chengyang Peng, Octavian Donca, Ayonga Hereid
2022	J	`jnl`	Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface. CoRR Yuan Gao, Yukai Gong, Victor Paredes, Ayonga Hereid, Yan Gu
2021	J	`jnl`	Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty. CoRR Kirtankumar Thakkar, Victor Paredes, Ayonga Hereid
2021	A	`conf`	Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. IROS Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
2021	J	`jnl`	Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. CoRR Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
2021	J	`jnl`	Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. CoRR Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya
2021	A	`conf`	Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. IROS Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2021	J	`jnl`	Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. CoRR Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2020	A*	`conf`	Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. ICRA Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2020	A	`conf`	Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. IROS Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid
2020	J	`jnl`	Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. CoRR Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid
2019	C	`conf`	Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. ACC Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy W. Grizzle
2019	J	`jnl`	Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. CoRR Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
2019	A	`conf`	Rapid Trajectory optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. IROS Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle
2019	A*	`conf`	Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. ICRA Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Zheng Wang, Wei Zhang
2018	J	`jnl`	Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. IEEE Trans. Robotics Ayonga Hereid, Christian M. Hubicki, Eric A. Cousineau, Aaron D. Ames
2018	J	`jnl`	Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. CoRR Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy W. Grizzle
2018	J	`jnl`	Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Margaret Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
2018	C	`conf`	Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. ACC Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames
2018	J	`jnl`	Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot. CoRR Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle
2018	J	`jnl`	Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. CoRR Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang
2018	A*	`conf`	Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. ICRA Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy W. Grizzle, Aaron D. Ames
2017	J	`jnl`	Corrigendum: Multi-contact bipedal robotic locomotion. Robotica Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames
2017	A	`conf`	FROST∗: Fast robot optimization and simulation toolkit. IROS Ayonga Hereid, Aaron D. Ames
2017	J	`jnl`	First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. IEEE Access Ayush Agrawal, Omar Harib, Ayonga Hereid, Sylvain Finet, Matthieu Masselin, Laurent Praly, Aaron D. Ames, Koushil Sreenath, Jessy W. Grizzle
2017	J	`jnl`	Multi-contact bipedal robotic locomotion. Robotica Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames
2017	J	`jnl`	Synthesis of safe controller via supervised learning for truck lateral control. CoRR Yuxiao Chen, Ayonga Hereid, Huei Peng, Jessy W. Grizzle
2016	—	`conf`	3D dynamic walking on stepping stones with control barrier functions. CDC Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath
2016	A*	`conf`	3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. ICRA Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames
2016	—	`conf`	3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. CDC Huihua Zhao, Ayonga Hereid, Eric R. Ambrose, Aaron D. Ames
2016	C	`conf`	Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. WAFR Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames
2016	A	`conf`	Efficient HZD gait generation for three-dimensional underactuated humanoid running. IROS Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames
2016	—	`conf`	Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. CDC Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames
2016	A*	`conf`	Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. ICRA Jacob Reher, Eric A. Cousineau, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames
2016	C	`conf`	Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. ACC Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames
2016	A*	`conf`	Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. ICRA Christian M. Hubicki, Ayonga Hereid, Michael X. Grey, Andrea Lockerd Thomaz, Aaron D. Ames
2015	A*	`conf`	Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. ICRA Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames
2015	J	`jnl`	The Ach Library: A New Framework for Real-Time Communication. IEEE Robotics Autom. Mag. Neil T. Dantam, Daniel M. Lofaro, Ayonga Hereid, Paul Y. Oh, Aaron D. Ames, Mike Stilman
2014	—	`conf`	Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. HSCC Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan Van Why, Jonathan W. Hurst, Aaron D. Ames
2014	—	`conf`	Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. CDC Ayonga Hereid, Matthew J. Powell, Aaron D. Ames
2013	—	`conf`	Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. Robotics: Science and Systems Neil Dantam, Ayonga Hereid, Aaron D. Ames, Mike Stilman
2013	A*	`conf`	Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. ICRA Matthew J. Powell, Ayonga Hereid, Aaron D. Ames