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Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot DURUS
This paper presents the meta-algorithmic approach used to realize multi-contact walking on the humanoid robot, DURUS. This systematic …
Jacob P Reher
,
Ayonga Hereid
,
Shishir Kolathaya
,
Christian M Hubicki
,
Aaron D Ames
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Springer
Reinforcement Learning Meets Hybrid Zero Dynamics: A case study for RABBIT
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity …
Guillermo A Castillo
,
Bowen Weng
,
Ayonga Hereid
,
Zheng Wang
,
Wei Zhang
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IEEE
arXiv
Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway
The Cassie bipedal robot designed by Agility Robotics is providing academics with a common platform for sharing and comparing …
Yukai Gong
,
Ross Hartley
,
Xingye Da
,
Ayonga Hereid
,
Omar Harib
,
Jiunn-Kai Huang
,
Jessy Grizzle
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Video
IEEE
arXiv
Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped
One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of …
Ayonga Hereid
,
Omar Harib
,
Ross Hartley
,
Yukai Gong
,
Jessy W Grizzle
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IEEE
arXiv
Input to state stabilizing control lyapunov functions for robust bipedal robotic locomotion
This paper analyzes the input to state stability properties of controllers which stabilize hybrid periodic orbits. Systems that are …
Shishir Kolathaya
,
Jacob Reher
,
Ayonga Hereid
,
Aaron D Ames
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IEEE
Towards restoring locomotion for paraplegics: Realizing dynamically stable walking on exoskeletons
This paper presents the first experimental results of crutch-less dynamic walking with paraplegics on a lower-body exoskeleton: …
Thomas Gurriet
,
Sylvain Finet
,
Guilhem Boeris
,
Alexis Duburcq
,
Ayonga Hereid
,
Omar Harib
,
Matthieu Masselin
,
Jessy Grizzle
,
Aaron D Ames
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Video
IEEE
FROST*: Fast Robot Optimization and Simulation Toolkit
This paper presents FROST, an open-source MATLAB toolkit for modeling, trajectory optimization and simulation of hybrid dynamical …
Ayonga Hereid
,
Aaron D Ames
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Video
IEEE
3d dynamic walking on stepping stones with control barrier functions
3D dynamical walking subject to precise footstep placements is crucial for navigating real world terrain with discrete footholds. We …
Quan Nguyen
,
Ayonga Hereid
,
Jessy W Grizzle
,
Aaron D Ames
,
Koushil Sreenath
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IEEE
3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics
Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant …
Ayonga Hereid
,
Eric A Cousineau
,
Christian M Hubicki
,
Aaron D Ames
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Video
IEEE
3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation
Virtual constraints have been recognized as an essential bridging tool which has the potential to translate rich nonlinear bipedal …
Huihua Zhao
,
Ayonga Hereid
,
Eric Ambrose
,
Aaron D Ames
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