Ayonga Hereid

Assistant Professor, Mechanical and Aerospace Engineering, The Ohio State University

Joined

June 2021

Names

Ayonga Hereid (Preferred)

Emails

****@osu.edu (Confirmed)

Personal Links

Google Scholar

DBLP

Career & Education History

Assistant Professor

Mechanical and Aerospace Engineering, The Ohio State University (osu.edu)

2019 – Present

Postdoc

University of Michigan (umich.edu)

2017 – 2018

PhD student

Georgia Institute of Technology (gatech.edu)

2011 – 2016

Advisors, Relations & Conflicts

PhD Advisee

Guillermo Castillo

2019 – 2024

Postdoc Advisor

Jessy Grizzle

2017 – 2018

PhD Advisor

Aaron Ames

2011 – 2016

Expertise

Perceptive Locomotion

2021 – 2024

Reinforcement Learning

2019 – 2024

Humanoid Robots

2011 – 2024

Legged Locomotion

2011 – 2024

Trajectory Optimization

2011 – 2024

Publications

MELP: Model Embedded Linear Policies for Robust Bipedal Hopping
Raghav Soni, Guillermo Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya
- 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Readers: Everyone
Linear policies are sufficient to realize robust bipedal walking on challenging terrains
Lokesh Krishna, Guillermo Castillo, Utkarsh Aashu Mishra, Ayonga Hereid, Shishir Kolathaya
- IEEE ROBOTICS AND AUTOMATION LETTERS, VOL. 7, NO. 2
- Readers: Everyone
Learning linear policies for robust bipedal locomotion on terrains with varying slopes
Lokesh Krishna, Utkarsh Aashu Mishra, Guillermo Castillo, Ayonga Hereid, Shishir Kolathaya
- 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Prague, Czech Republic
- Readers: Everyone
Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes
Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya
- 2021 (modified: 27 Jan 2025)
- CoRR 2021
- Readers: Everyone
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
- 2021 (modified: 22 Jan 2025)
- CoRR 2021
- Readers: Everyone
Adaptive Feedback Regulator for Powered Lower-Limb Exoskeleton under Model Uncertainty
Kirtankumar Thakkar, Victor Paredes, Ayonga Hereid
- 2021 (modified: 02 Nov 2022)
- CoRR 2021
- Readers: Everyone
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid
- 2020 (modified: 22 Jan 2025)
- CoRR 2020
- Readers: Everyone
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid
- 2020 (modified: 22 Jan 2025)
- ICRA 2020
- Readers: Everyone
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart, Wei Zhang, Ayonga Hereid
- 2020 (modified: 22 Jan 2025)
- IROS 2020
- Readers: Everyone
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Zheng Wang, Wei Zhang
- 2019 (modified: 22 Jan 2025)
- ICRA 2019
- Readers: Everyone

View all 40 publications

Co-Authors

View all 51 co-authors