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2020 – today
- 2024
[c34]Victor C. Paredes, Daniel A. Hagen, Samuel W. Chesebrough, Riley Swann, Denis Garagic, Ayonga Hereid:
Moving Past Point-Contacts: Extending the ALIP Model to Humanoids with Non-Trivial Feet Using Hierarchical, Full-Body Momentum Control. ACC 2024: 447-453- [c33]Victor C. Paredes, Ayonga Hereid:
Safe Whole-Body Task Space Control for Humanoid Robots. ACC 2024: 949-956 - [c32]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. ICRA 2024: 1172-1178 - [c31]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: 9946-9952 - [i25]Zhaoyang Xiang, Victor Paredes, Ayonga Hereid:
Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds. CoRR abs/2403.17136 (2024) - [i24]Chengyang Peng, Victor Paredes, Ayonga Hereid:
Unified Path and Gait Planning for Safe Bipedal Robot Navigation. CoRR abs/2403.17347 (2024) - [i23]Victor C. Paredes, Daniel A. Hagen, Samuel W. Chesebrough, Riley Swann, Denis Garagic, Ayonga Hereid:
Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control. CoRR abs/2408.05308 (2024) - [i22]Yuan Gao, Victor Paredes, Yukai Gong, Zijian He, Ayonga Hereid, Yan Gu:
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces. CoRR abs/2409.08371 (2024) - 2023
- [j8]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): 3299-3318 (2023) - [c30]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: 3282-3287 - [c29]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: 3649-3655 - [c28]Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid:
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. IROS 2023: 8582-8589 - [c27]Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya:
MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. IROS 2023: 10418-10424 - [i21]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 abs/2308.14636 (2023) - [i20]Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid:
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. CoRR abs/2309.15442 (2023) - [i19]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. CoRR abs/2309.15740 (2023) - [i18]Victor Paredes, Ayonga Hereid:
Safe Whole-Body Task Space Control for Humanoid Robots. CoRR abs/2311.08409 (2023) - 2022
- [j7]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion. IEEE Access 10: 20135-20148 (2022) - [j6]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): 2047-2054 (2022) - [c26]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: 5179-5186 - [c25]Victor C. Paredes, Ayonga Hereid:
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. IROS 2022: 6761-6767 - [i17]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 abs/2204.07846 (2022) - [i16]Victor Paredes, Ayonga Hereid:
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. CoRR abs/2208.01786 (2022) - [i15]Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid:
Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness. CoRR abs/2209.09879 (2022) - [i14]Octavian A. Donca, Chayapol Beokhaimook, Ayonga Hereid:
Real-Time Navigation for Bipedal Robots in Dynamic Environments. CoRR abs/2210.03280 (2022) - [i13]Chengyang Peng, Octavian Donca, Ayonga Hereid:
Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression. CoRR abs/2210.03704 (2022) - [i12]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 abs/2210.13371 (2022) - 2021
- [c24]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: 5136-5143 - [c23]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: 5159-5164 - [i11]Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid:
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. CoRR abs/2103.15309 (2021) - [i10]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 abs/2104.01662 (2021) - [i9]Kirtankumar Thakkar, Victor Paredes, Ayonga Hereid:
Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty. CoRR abs/2104.11775 (2021) - [i8]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 abs/2109.12665 (2021) - 2020
- [c22]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: 8746-8752 - [c21]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: 7703-7709 - [i7]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 abs/2008.00376 (2020)
2010 – 2019
- 2019
- [c20]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: 4559-4566 - [c19]Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Zheng Wang, Wei Zhang:
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. ICRA 2019: 284-290 - [c18]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: 4722-4729 - [i6]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 abs/1910.01748 (2019) - 2018
- [j5]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): 370-387 (2018) - [c17]Shishir Kolathaya, Jacob Reher, Ayonga Hereid, Aaron D. Ames:
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. ACC 2018: 2224-2230 - [c16]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: 2804-2811 - [i5]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:
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. CoRR abs/1802.08322 (2018) - [i4]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 abs/1807.06614 (2018) - [i3]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 abs/1809.07279 (2018) - [i2]Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Wei Zhang:
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. CoRR abs/1810.01977 (2018) - 2017
- [j4]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: 9919-9934 (2017) - [j3]Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames:
Multi-contact bipedal robotic locomotion. Robotica 35(5): 1072-1106 (2017) - [j2]Huihua Zhao, Ayonga Hereid, Wen-Loong Ma, Aaron D. Ames:
Corrigendum: Multi-contact bipedal robotic locomotion. Robotica 35(8): 1793 (2017) - [c15]Ayonga Hereid, Aaron D. Ames:
FROST∗: Fast robot optimization and simulation toolkit. IROS 2017: 719-726 - [i1]Yuxiao Chen, Ayonga Hereid, Huei Peng, Jessy W. Grizzle:
Synthesis of safe controller via supervised learning for truck lateral control. CoRR abs/1712.05506 (2017) - 2016
- [c14]Shishir Kolathaya, Ayonga Hereid, Aaron D. Ames:
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. ACC 2016: 3916-3921 - [c13]Quan Nguyen, Ayonga Hereid, Jessy W. Grizzle, Aaron D. Ames, Koushil Sreenath:
3D dynamic walking on stepping stones with control barrier functions. CDC 2016: 827-834 - [c12]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: 3668-3674 - [c11]Ayonga Hereid, Shishir Kolathaya, Aaron D. Ames:
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. CDC 2016: 6173-6179 - [c10]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: 1447-1454 - [c9]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: 1552-1559 - [c8]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: 1794-1801 - [c7]Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames:
Efficient HZD gait generation for three-dimensional underactuated humanoid running. IROS 2016: 5819-5825 - [c6]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: 400-415 - 2015
- [j1]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): 76-85 (2015) - [c5]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: 5734-5740 - 2014
- [c4]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: 2950-2957 - [c3]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: 263-272 - 2013
- [c2]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: 4803-4810 - [c1]Neil Dantam, Ayonga Hereid, Aaron D. Ames, Mike Stilman:
Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. Robotics: Science and Systems 2013
Coauthor Index
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last updated on 2024-10-15 00:22 CEST by the dblp team
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