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Ayonga Hereid

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Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning

Sep 27, 2023
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid

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Template Model Inspired Task Space Learning for Robust Bipedal Locomotion

Sep 27, 2023
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid

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Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications

Aug 28, 2023
Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid

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Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface

Oct 24, 2022
Yuan Gao, Yukai Gong, Victor Paredes, Ayonga Hereid, Yan Gu

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Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression

Oct 07, 2022
Chengyang Peng, Octavian Donca, Ayonga Hereid

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Real-Time Navigation for Bipedal Robots in Dynamic Environments

Oct 07, 2022
Octavian A. Donca, Chayapol Beokhaimook, Ayonga Hereid

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Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness

Sep 20, 2022
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid

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Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation

Aug 02, 2022
Victor Paredes, Ayonga Hereid

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On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots

Apr 16, 2022
Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid

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Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains

Oct 05, 2021
Lokesh Krishna, Guillermo A. Castillo, Utkarsh A. Mishra, Ayonga Hereid, Shishir Kolathaya

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