Ayonga Hereid
Orcid: 0000-0002-4156-2013
According to our database1,
Ayonga Hereid
authored at least 53 papers
between 2013 and 2024.
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Collaborative distances:
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Bibliography
2024
Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds.
CoRR, 2024
2023
On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots.
IEEE Trans. Robotics, August, 2023
CoRR, 2023
CoRR, 2023
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications.
CoRR, 2023
IROS, 2023
Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface.
Proceedings of the American Control Conference, 2023
2022
Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains.
IEEE Robotics Autom. Lett., 2022
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface.
CoRR, 2022
Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression.
CoRR, 2022
Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness.
CoRR, 2022
Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion.
IEEE Access, 2022
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
2021
Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty.
CoRR, 2021
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
2020
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
2019
Rapid Trajectory optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
Proceedings of the International Conference on Robotics and Automation, 2019
Proceedings of the 2019 American Control Conference, 2019
2018
IEEE Trans. Robotics, 2018
CoRR, 2018
CoRR, 2018
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking.
CoRR, 2018
Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion.
Proceedings of the 2018 Annual American Control Conference, 2018
2017
CoRR, 2017
First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons.
IEEE Access, 2017
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017
2016
Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016
Proceedings of the 55th IEEE Conference on Decision and Control, 2016
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion.
Proceedings of the 2016 American Control Conference, 2016
2015
IEEE Robotics Autom. Mag., 2015
Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
2014
Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control.
Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control (part of CPS Week), 2014
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control.
Proceedings of the 53rd IEEE Conference on Decision and Control, 2014
2013
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013
Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013