Ayonga Hereid

The Ohio State University — United States

Engineering · Physical Sciences

21h-index1.7kcitations81works0.52yr avg
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Research Topics

Robotic Locomotion and Control(65), Prosthetics and Rehabilitation Robotics(49), Real-time simulation and control systems(12), Robotic Path Planning Algorithms(11), Reinforcement Learning in Robotics(9)

Publications81 total

Learning Terrain Aware Bipedal Locomotion via Reduced Dimensional Perceptual Representations
arXiv (Cornell University)·2025Open Access
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
2025
Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation
arXiv (Cornell University)·2025Open Access
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
2025· 1 cited
Time-Varying Foot Placement Control for Humanoid Walking on Swaying Rigid Surface
IEEE Transactions on Robotics·2025Open Access
Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions
arXiv (Cornell University)·2024Open Access
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
arXiv (Cornell University)·2024Open Access
Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
arXiv (Cornell University)·2024Open Access
Moving Past Point-Contacts: Extending the ALIP Model to Humanoids with Non-Trivial Feet Using Hierarchical, Full-Body Momentum Control
2024
Safe Whole-Body Task Space Control for Humanoid Robots
2024· 2 cited
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning
2024· 1 cited
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
2024· 3 cited
Unified Path and Gait Planning for Safe Bipedal Robot Navigation
arXiv (Cornell University)·2024Open Access
Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
ArXiv.org·2024Open Access
Safe Whole-Body Task Space Control for Humanoid Robots
arXiv (Cornell University)·2023Open Access
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
2023· 17 cited
MELP: Model Embedded Linear Policies for Robust Bipedal Hopping
2023· 1 cited
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning
arXiv (Cornell University)·2023Open Access
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
arXiv (Cornell University)·2023Open Access
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
arXiv (Cornell University)·2023Open Access
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Frequent Co-authors

Aaron D. Ames(23), Guillermo A. Castillo(15), Bowen Weng(11), Jessy W. Grizzle(10), Omar Harib(7), Christian Hubicki(7), Shishir Kolathaya(7), Yukai Gong(5), Wei Zhang(5), Ross Hartley(4), Eric Cousineau(4), Victor Paredes(4), Koushil Sreenath(3), Jacob Reher(3), Sylvain Finet(3), Matthieu Masselin(3), Neil T. Dantam(3), Mike Stilman(3), Xingye Da(2), Jiunn-Kai Huang(2)