2026 video · Hardware demonstration
Walking across disconnected footholds
Depth-based foothold perception and variable step timing guide Digit across separated platforms.
Cyberbotics Lab · The Ohio State University
Advancing the science of robotic motion.
We study how humanoid robots and exoskeletons balance, move, and adapt. Our research combines dynamics, control, optimization, and learning, connecting mathematical models with simulation and robot experiments.
Mechanical and Aerospace Engineering
Columbus, Ohio
Lab software platform
Cyber Suite
A modular foundation for robotics research.
Our robotics software platform connects robot models, motion planning, whole-body control, and learning through a C++ core and Python interfaces.
Explore Cyber Suite Active development
The repository is not public yet. Public release details will be announced here.
Shared software foundationC++ core Python interfaces
- ModelKinematics & dynamics
- PlanSteps & motion references
- ControlTasks & constraints
- LearnPolicies & simulation
- AnalyzeLogs & visualization
Research in motion
From methods to demonstrations
2026 video · Hardware demonstration
Navigating with learned subgoals
A learned planner selects intermediate goals for Digit navigation around obstacles.
2026 video · Simulation
Learning safer walking
Reduced-order predictions guide policy learning and foot-placement filtering in Digit simulation.
Also explore exoskeleton walking, whole-body control, and disturbance-rejection testing.
What we study
Research areas
Perception → planning → walking
Humanoid locomotion & navigation
Connect terrain perception and obstacle avoidance with feasible steps, step timing, and whole-body motion.
Explore this researchModels + learning
Safe control & robot learning
Combine reduced-order models, feedback control, and learned policies; evaluate stability and safety under stated conditions.
Explore this researchHuman–robot dynamics
Exoskeletons & assistive robotics
Develop dynamic walking controllers for powered lower-limb exoskeletons and study balance in coupled human–robot systems.
Explore this researchMethods → reusable tools
Robotics software & simulation
Connect robot models, planning, control, and learning through Cyber Suite's modular C++ and Python foundation.
Explore this researchSafety evaluation connects these areas: see our work on testing legged robots.
Recent work
Selected publications
2026
2026
2026
2025
People behind the research
Meet the lab
Led by Ayonga Hereid, Associate Professor of Mechanical and Aerospace Engineering at Ohio State, our group studies the dynamics, control, and learning of walking robots.