Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. - Matthew J. Powell; Ayonga Hereid; Aaron D. Ames (ICRA, 2013)

Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. - Neil Dantam; Ayonga Hereid; Aaron D. Ames; Mike Stilman (Robotics: Science and Systems, 2013)

Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. - Ayonga Hereid; Matthew J. Powell; Aaron D. Ames (CDC, 2014)

Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control. - Ayonga Hereid; Shishir Kolathaya; Mikhail S. Jones; Johnathan Van Why; Jonathan W. Hurst; Aaron D. Ames (HSCC, 2014)

Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. - Ayonga Hereid; Christian Hubicki; Eric A. Cousineau; Jonathan W. Hurst; Aaron D. Ames (ICRA, 2015)

The Ach Library: A New Framework for Real-Time Communication. - Neil T. Dantam; Daniel M. Lofaro; Ayonga Hereid; Paul Y. Oh; Aaron D. Ames; Mike Stilman (IEEE Robotics Autom. Mag., 2015)

Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion. - Shishir Kolathaya; Ayonga Hereid; Aaron D. Ames (ACC, 2016)

Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. - Ayonga Hereid; Shishir Kolathaya; Aaron D. Ames (CDC, 2016)

3D dynamic walking on stepping stones with control barrier functions. - Quan Nguyen 004; Ayonga Hereid; Jessy W. Grizzle; Aaron D. Ames; Koushil Sreenath (CDC, 2016)

3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation. - Huihua Zhao; Ayonga Hereid; Eric R. Ambrose; Aaron D. Ames (CDC, 2016)

3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. - Ayonga Hereid; Eric A. Cousineau; Christian M. Hubicki; Aaron D. Ames (ICRA, 2016)

Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. - Christian M. Hubicki; Ayonga Hereid; Michael X. Grey; Andrea Lockerd Thomaz; Aaron D. Ames (ICRA, 2016)

Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. - Jacob Reher; Eric A. Cousineau; Ayonga Hereid; Christian M. Hubicki; Aaron D. Ames (ICRA, 2016)

Efficient HZD gait generation for three-dimensional underactuated humanoid running. - Wen-Loong Ma; Ayonga Hereid; Christian M. Hubicki; Aaron D. Ames (IROS, 2016)

Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. - Jacob P. Reher; Ayonga Hereid; Shishir Kolathaya; Christian M. Hubicki; Aaron D. Ames (WAFR, 2016)

FROST∗: Fast robot optimization and simulation toolkit. - Ayonga Hereid; Aaron D. Ames (IROS, 2017)

First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons. - Ayush Agrawal; Omar Harib; Ayonga Hereid; Sylvain Finet; Matthieu Masselin; Laurent Praly; Aaron D. Ames; Koushil Sreenath; Jessy W. Grizzle (IEEE Access, 2017)

Synthesis of safe controller via supervised learning for truck lateral control. - Yuxiao Chen 001; Ayonga Hereid; Huei Peng; Jessy W. Grizzle (CoRR, 2017)

Multi-contact bipedal robotic locomotion. - Huihua Zhao; Ayonga Hereid; Wen-Loong Ma; Aaron D. Ames (Robotica, 2017)

Corrigendum: Multi-contact bipedal robotic locomotion. - Huihua Zhao; Ayonga Hereid; Wen-Loong Ma; Aaron D. Ames (Robotica, 2017)

Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. - Shishir Kolathaya; Jacob Reher; Ayonga Hereid; Aaron D. Ames (ACC, 2018)

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. - Thomas Gurriet; Sylvain Finet; Guilhem Boeris; Alexis Duburcq; Ayonga Hereid; Omar Harib; Matthieu Masselin; Jessy W. Grizzle; Aaron D. Ames (ICRA, 2018)

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking. - 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 (CoRR, 2018)

Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot. - Ayonga Hereid; Omar Harib; Ross Hartley; Yukai Gong; Jessy W. Grizzle (CoRR, 2018)

Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. - Guillermo A. Castillo; Bowen Weng; Ayonga Hereid; Wei Zhang 013 (CoRR, 2018)

Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization. - Ayonga Hereid; Christian M. Hubicki; Eric A. Cousineau; Aaron D. Ames (IEEE Trans. Robotics, 2018)

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway. - Yukai Gong; Ross Hartley; Xingye Da; Ayonga Hereid; Omar Harib; Jiunn-Kai Huang; Jessy W. Grizzle (ACC, 2019)

Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. - Guillermo A. Castillo; Bowen Weng; Ayonga Hereid; Zheng Wang 002; Wei Zhang 013 (ICRA, 2019)

Rapid Trajectory optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. - Ayonga Hereid; Omar Harib; Ross Hartley; Yukai Gong; Jessy W. Grizzle (IROS, 2019)

Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (ICRA, 2020)

Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller. - Guillermo A. Castillo; Bowen Weng; Terrence C. Stewart; Wei Zhang 013; Ayonga Hereid (IROS, 2020)

Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (IROS, 2021)

Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. - Lokesh Krishna; Utkarsh A. Mishra; Guillermo A. Castillo; Ayonga Hereid; Shishir Kolathaya (IROS, 2021)

Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty. - Kirtankumar Thakkar; Victor Paredes; Ayonga Hereid (CoRR, 2021)

Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. - Victor C. Paredes; Ayonga Hereid (IROS, 2022)

On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. - Bowen Weng; Guillermo A. Castillo; Wei Zhang 013; Ayonga Hereid (IROS, 2022)

Reinforcement Learning-Based Cascade Motion Policy Design for Robust 3D Bipedal Locomotion. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (IEEE Access, 2022)

Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness. - Bowen Weng; Guillermo A. Castillo; Wei Zhang 013; Ayonga Hereid (CoRR, 2022)

Real-Time Navigation for Bipedal Robots in Dynamic Environments. - Octavian A. Donca; Chayapol Beokhaimook; Ayonga Hereid (CoRR, 2022)

Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression. - Chengyang Peng; Octavian Donca; Ayonga Hereid (CoRR, 2022)

Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface. - Yuan Gao; Yukai Gong; Victor Paredes; Ayonga Hereid; Yan Gu (CoRR, 2022)

Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains. - Lokesh Krishna; Guillermo A. Castillo; Utkarsh A. Mishra; Ayonga Hereid; Shishir Kolathaya (IEEE Robotics Autom. Lett., 2022)

Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface. - Yuan Gao; Yukai Gong; Victor Paredes; Ayonga Hereid; Yan Gu (ACC, 2023)

Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. - Chengyang Peng; Octavian A. Donca; Guillermo A. Castillo; Ayonga Hereid (ICRA, 2023)

Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. - Guillermo A. Castillo; Bowen Weng; Shunpeng Yang; Wei Zhang 013; Ayonga Hereid (IROS, 2023)

MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. - Raghav Soni; Guillermo A. Castillo; Lokesh Krishna; Ayonga Hereid; Shishir Kolathaya (IROS, 2023)

On the Comparability and Optimal Aggressiveness of the Adversarial Scenario-Based Safety Testing of Robots. - Bowen Weng; Guillermo A. Castillo; Wei Zhang 013; Ayonga Hereid (IEEE Trans. Robotics, 2023)

Safe Whole-Body Task Space Control for Humanoid Robots. - Victor C. Paredes; Ayonga Hereid (ACC, 2024)

Moving Past Point-Contacts: Extending the ALIP Model to Humanoids with Non-Trivial Feet Using Hierarchical, Full-Body Momentum Control. - Victor C. Paredes; Daniel A. Hagen; Samuel W. Chesebrough; Riley Swann; Denis Garagic; Ayonga Hereid (ACC, 2024)

Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. - Guillermo A. Castillo; Bowen Weng; Wei Zhang 013; Ayonga Hereid (ICRA, 2024)

Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. - Bowen Weng; Guillermo A. Castillo; Yun-Seok Kang; Ayonga Hereid (ICRA, 2024)

Adaptive Step Duration for Precise Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds. - Zhaoyang Xiang; Victor Paredes; Ayonga Hereid (CoRR, 2024)

Unified Path and Gait Planning for Safe Bipedal Robot Navigation. - Chengyang Peng; Victor Paredes; Ayonga Hereid (CoRR, 2024)

Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces. - Yuan Gao; Victor Paredes; Yukai Gong; Zijian He; Ayonga Hereid; Yan Gu (CoRR, 2024)

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions. - Chengyang Peng; Victor Paredes; Guillermo A. Castillo; Ayonga Hereid (CoRR, 2024)

Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation. - Chengyang Peng; Zhihao Zhang; Shiting Gong; Sankalp Agrawal; Keith A. Redmill; Ayonga Hereid (CoRR, 2025)