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Ayonga Hereid
Ayonga Hereid
Assistant Professor of Mechanical Engineering, Ohio State University
Verified email at osu.edu - Homepage
Title
Cited by
Cited by
Year
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
A Hereid, EA Cousineau, CM Hubicki, AD Ames
2016 IEEE International Conference on Robotics and Automation (ICRA), 1447-1454, 2016
2092016
Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
Y Gong, R Hartley, X Da, A Hereid, O Harib, JK Huang, J Grizzle
2019 American Control Conference (ACC), 4559-4566, 2019
1332019
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
J Reher, EA Cousineau, A Hereid, CM Hubicki, AD Ames
2016 IEEE International Conference on Robotics and Automation (ICRA), 1794-1801, 2016
1182016
FROST*: Fast Robot Optimization and Simulation Toolkit
A Hereid, AD Ames
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
1002017
Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization
A Hereid, CM Hubicki, EA Cousineau, AD Ames
IEEE Transactions on Robotics 34 (2), 370-387, 2018
962018
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
O Harib, A Hereid, A Agrawal, T Gurriet, S Finet, G Boeris, A Duburcq, ...
IEEE Control Systems Magazine 38 (6), 61 - 87, 2018
882018
3d dynamic walking on stepping stones with control barrier functions
Q Nguyen, A Hereid, JW Grizzle, AD Ames, K Sreenath
2016 IEEE 55th Conference on Decision and Control (CDC), 827-834, 2016
852016
First steps towards translating HZD control of bipedal robots to decentralized control of exoskeletons
A Agrawal, O Harib, A Hereid, S Finet, M Masselin, L Praly, AD Ames, ...
IEEE Access 5, 9919-9934, 2017
782017
Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control
A Hereid, S Kolathaya, MS Jones, J Van Why, JW Hurst, AD Ames
Proceedings of the 17th international conference on Hybrid systems …, 2014
712014
Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons
T Gurriet, S Finet, G Boeris, A Duburcq, A Hereid, O Harib, M Masselin, ...
2018 IEEE international conference on robotics and automation (ICRA), 2804-2811, 2018
642018
The ach library: a new framework for real-time communication
NT Dantam, DM Lofaro, A Hereid, PY Oh, AD Ames, M Stilman
IEEE Robotics & Automation Magazine 22 (1), 76-85, 2015
46*2015
Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
JP Reher, A Hereid, S Kolathaya, CM Hubicki, AD Ames
Algorithmic Foundations of Robotics XII, 400-415, 2020
442020
Speed regulation in 3D robotic walking through motion transitions between human-inspired partial hybrid zero dynamics
MJ Powell, A Hereid, AD Ames
2013 IEEE international conference on robotics and automation, 4803-4810, 2013
432013
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped
A Hereid, O Harib, R Hartley, Y Gong, JW Grizzle
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
39*2019
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
A Hereid, CM Hubicki, EA Cousineau, JW Hurst, AD Ames
IEEE International Conference on Robotics and Automation, 2015
322015
Multi-contact bipedal robotic locomotion
H Zhao, A Hereid, W Ma, AD Ames
Robotica 35 (5), 1072-1106, 2017
282017
Hybrid zero dynamics inspired feedback control policy design for 3d bipedal locomotion using reinforcement learning
GA Castillo, B Weng, W Zhang, A Hereid
2020 IEEE International Conference on Robotics and Automation (ICRA), 8746-8752, 2020
252020
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
A Hereid, S Kolathaya, AD Ames
Decision and Control (CDC), 2016 IEEE 55th Conference on, 6173-6179, 2016
24*2016
Enhancing the performance of a safe controller via supervised learning for truck lateral control
Y Chen, A Hereid, H Peng, J Grizzle
Journal of Dynamic Systems, Measurement, and Control 141 (10), 2019
222019
Reinforcement learning meets hybrid zero dynamics: A case study for rabbit
GA Castillo, B Weng, A Hereid, Z Wang, W Zhang
2019 International Conference on Robotics and Automation (ICRA), 284-290, 2019
212019
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