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
1582016
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
762016
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
642014
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
612018
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
592017
FROST*: Fast Robot Optimization and Simulation Toolkit
A Hereid, AD Ames
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
572017
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
482019
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
462016
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
442018
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
38*2015
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
382013
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
322020
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
322018
Multi-contact bipedal robotic locomotion
H Zhao, A Hereid, W Ma, AD Ames
Robotica 35 (5), 1072-1106, 2017
222017
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
222015
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
21*2016
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
19*2019
Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control
A Hereid, MJ Powell, AD Ames
53rd IEEE Conference on Decision and Control, 2950-2957, 2014
162014
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion
S Kolathaya, A Hereid, AD Ames
2016 American Control Conference (ACC), 3916-3921, 2016
152016
Correct software synthesis for stable speed-controlled robotic walking
N Dantam, A Hereid, A Ames, M Stilman
Robotics: Science and Systems, 2013
142013
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