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Efficient HZD gait generation for three-dimensional underactuated humanoid running
Dynamic humanoid locomotion is a challenging control problem, and running is especially difficult to achieve, given the underactuation …
Wen-Loong Ma
,
Ayonga Hereid
,
Christian M Hubicki
,
Aaron D Ames
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Video
IEEE
Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization
This paper presents an optimal gait synthesis method that exploits the full body dynamics of robots using the Hybrid Zero Dynamics …
Ayonga Hereid
,
Shishir Kolathaya
,
Aaron D Ames
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Video
IEEE
Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS
This paper presents the methodology used to achieve efficient and dynamic walking behaviors on the prototype humanoid robotics …
Jacob Reher
,
Eric A Cousineau
,
Ayonga Hereid
,
Christian M Hubicki
,
Aaron D Ames
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Video
IEEE
Time dependent control Lyapunov functions and hybrid zero dynamics for stable robotic locomotion
Implementing state-based parameterized periodic trajectories on complex robotic systems, e.g., humanoid robots, can lead to instability …
Shishir Kolathaya
,
Ayonga Hereid
,
Aaron D Ames
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Video
IEEE
Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion
Humanoid robots are designed with dozens of actuated joints to suit a variety of tasks, but walking controllers rarely make the best …
Christian M Hubicki
,
Ayonga Hereid
,
Michael X Grey
,
Andrea L Thomaz
,
Aaron D Ames
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IEEE
Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking
Hybrid zero dynamics (HZD) has emerged as a popular framework for the stable control of bipedal robotic gaits, but typically designing …
Ayonga Hereid
,
Christian M Hubicki
,
Eric A Cousineau
,
Jonathan W Hurst
,
Aaron D Ames
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Project
Video
IEEE
Dynamic multi-domain bipedal walking with atrias through slip based human-inspired control
This paper presents a methodology for achieving efficient multi-domain underactuated bipedal walking on compliant robots by formally …
Ayonga Hereid
,
Shishir Kolathaya
,
Mikhail S Jones
,
Johnathan Van Why
,
Jonathan W Hurst
,
Aaron D Ames
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Video
ACM
Embedding of slip dynamics on underactuated bipedal robots through multi-objective quadratic program based control
This paper presents a method for achieving stable periodic walking, consisting of phases of single and double support, on underactuated …
Ayonga Hereid
,
Matthew J Powell
,
Aaron D Ames
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IEEE
Signal integrity optimization of MLVDS based multi-master instrument bus
In this paper, we proposed a MLVDS based multimaster real time instrument bus to simultaneously satisfy the requirement of high speed …
Kaichen Song
,
Caixia Li
,
Lingyun Ye
,
Bin Chen
,
Ayonga Hereid
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IEEE
Correct software synthesis for stable speed-controlled robotic walking
We present a software synthesis method for speed- controlled robot walking based on supervisory control of a context-free Motion …
Neil Dantam
,
Ayonga Hereid
,
Aaron Ames
,
Mike Stilman
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