Ayonga Hereid
Engineering · The Ohio State University
Publications
83
Citations
1,783
Est. group size
~4
Recurring co-author estimate
Active years
14
Publishing since 2013
Ayonga Hereid's research focuses on making legged robots—especially humanoid and bipedal robots and lower-limb exoskeletons—walk and navigate reliably in complex, real-world environments. This includes designing control algorithms for foot placement, balance, and path planning on uneven or moving surfaces, as well as combining machine learning with traditional control methods for safer, more adaptable robot locomotion. The work is aimed at improving robots' ability to walk, navigate obstacles, and assist people through devices like exoskeletons.
Publication output has grown from a handful of papers per year in 2017-2019 to a peak of around 11 in 2022, followed by a slight decline to about 5-8 per year in 2023-2025, suggesting a generally steady to growing pace of research activity with some recent tapering.
Generated by claude-sonnet-5 from public bibliographic data · Jul 20, 2026
- Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
Open MIND · 2026
- Perceptive Variable-Timing Footstep Planning for Humanoid Locomotion on Disconnected Footholds
arXiv (Cornell University) · 2026
- Time-Varying Foot Placement Control for Humanoid Walking on Swaying Rigid Surface
IEEE Transactions on Robotics · 2025
- Reinforcement Learning with Data Bootstrapping for Dynamic Subgoal Pursuit in Humanoid Robot Navigation
arXiv (Cornell University) · 2025
- Safe Whole-Body Task Space Control for Humanoid Robots
2024
- Unified Path and Gait Planning for Safe Bipedal Robot Navigation
arXiv (Cornell University) · 2024
- Moving Past Point-Contacts: Extending the ALIP Model to Humanoids with Non-Trivial Feet Using Hierarchical, Full-Body Momentum Control
2024
- Moving past point-contacts: Extending the ALIP model to humanoids with non-trivial feet using hierarchical, full-body momentum control
arXiv (Cornell University) · 2024
- Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
arXiv (Cornell University) · 2024
- Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface
2023
- Safe Whole-Body Task Space Control for Humanoid Robots
arXiv (Cornell University) · 2023
- Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · 2022
- Safe Path Planning for Polynomial Shape Obstacles via Control Barrier Functions and Logistic Regression
arXiv (Cornell University) · 2022
- Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface
arXiv (Cornell University) · 2022
- Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation
arXiv (Cornell University) · 2022
- arXiv (Cornell University)×29
- IEEE Transactions on Robotics×3
- IEEE Access×2
- 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)×2
- 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)×2
- Guillermo A. Castillo
Engineering · The Ohio State University
- C. S. George Lee
Engineering · Purdue University West Lafayette
- Yan Gu
Engineering · Purdue University West Lafayette
- Manoj Srinivasan
Engineering · The Ohio State University
- Jiajun An
Engineering · Purdue University West Lafayette
This profile was generated automatically from public scholarly data (OpenAlex). Group size and activity levels are estimates derived from co-authorship patterns.
Last updated Jul 19, 2026.
Claim or correct this profile