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Ayonga Hereid

  • Assistant Professor, Mechanical & Aerospace Engr
  • 201 W. 19th Ave
    Room E506 Scott Laboratory
    Columbus, OH 43210
  • 614-292-1093


My research focuses on developing elegant and principled control solutions for the next-generation legged robots and lower-extremity assistive devices. My research interests include:

  • Robotics: exoskeleton and human-assistive devices; bipedal robots and humanoids
  • Control and dynamics: modeling and optimal control design of hybrid dynamical systems
  • Optimization: advanced trajectory optimization of complex systems
  • Machine learning: applications of machine learning algorithms to robust feedback controls

Journal Articles


  • Hereid, A.; Hubicki, C.M.; Cousineau, E.A.; Ames, A.D., 2018, "Dynamic Humanoid Locomotion: A Scalable Formulation for HZD Gait Optimization." IEEE Transactions on Robotics 34, 370-387 - 370-387.
  • Harib, O.; Hereid, A.; Agrawal, A.; Gurriet, T. et al., 2018, "Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking." CoRR


  • Agrawal, A.; Harib, O.; Hereid, A.; Finet, S. et al., 2017, "First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons." IEEE Access 5, 9919-9934 - 9919-9934.
  • Zhao, H.; Hereid, A.; Ma, W-L.; Ames, A.D., 2017, "Multi-Contact Bipedal Robotic Locomotion." Robotica 35, 1072-1106 - 1072-1106.
  • Chen, Y.; Hereid, A.; Peng, H.; Grizzle, J., 2017, "Enhancing the performance of a safe controller via supervised learning for truck lateral control." CoRR


  • Dantam, N.T.; Lofaro, D.M.; Hereid, A.; Oh, P.Y. et al., 2015, "The Ach Library: A New Framework for Real-Time Communication." IEEE Robotics Automation Magazine 22, 76-85 - 76-85.


  • Hereid, A.; Harib, O.; Hartley, R.; Gong, Y. et al., "Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot." CoRR

Papers in Proceedings


  • Kolathaya, S.; Reher, J.; Hereid, A.; Aaron D Ames, H. "Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion." (10 2017).
  • Gurriet, T.; Finet, S.; Boeris, G.; Hereid, A. et al. "Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons." (10 2017).
  • Hereid, A.; Ames, A.D. "FROST: Fast robot optimization and simulation toolkit." (9 2017).


  • Reher, J.P.; Hereid, A.; Kolathaya, S.; Hubicki, C.M. et al. "Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS." (12 2016).
  • Hereid, A.; Kolathaya, S.; Ames, A.D. "Online Hybrid Zero Dynamics Optimal Gait Generation Using Legendre Pseudospectral Optimization." (12 2016).
  • Hubicki, C.; Hereid, A.; Grey, M.; Thomaz, A. et al. "Work those Arms: Toward Dynamic and Stable Humanoid Walking that Optimizes Full-Body Motion." (5 2016).
  • Kolathaya, S.; Hereid, A.; Ames, A.D. "Time Dependent Control Lyapunov Functions and Hybrid Zero Dynamics for Stable Robotic Locomotion." (7 2016).
  • Ma, W-L.; Hereid, A.; Hubicki, C.M.; Ames, A.D. "Efficient HZD Gait Generation for Three-Dimensional Underactuated Humanoid Running." (10 2016).
  • Nguyen, Q.; Hereid, A.; Sreenath, K.; Grizzle, J.W. et al. "3D dynamic walking on stepping stones with control barrier functions." (12 2016).
  • Hereid, A.; Cousineau, E.A.; Hubicki, C.M.; Ames, A.D. "3D Dynamic Walking With Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics." (5 2016).
  • Reher, J.; Cousineau, E.A.; Hereid, A.; Hubicki, C.M. et al. "Realizing Dynamic and Efficient Bipedal Locomotion on the Humanoid Robot DURUS." (5 2016).
  • Zhao, H.; Hereid, A.; Ambrose, E.; Ames, A.D. "3D multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation." (12 2016).


  • Hereid, A.; Hubicki, C.; Cousineau, E.A.; Hurst, J.W. et al. "Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking." (5 2015).


  • Hereid, A.; Kolathaya, S.; Jones, M.S.; Van Why, J. et al. "Dynamic Multi-domain Bipedal Walking with Atrias Through SLIP Based Human-inspired Control." (4 2014).
  • Hereid, A.; Powell, M.J.; Ames, A.D. "Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control." (12 2014).
  • Song, K.; Li, C.; Ye, L.; Chen, B. et al. "Signal Integrity Optimization of MLVDS based Multi-Master Instrument Bus." (8 2014).


  • Dantam, N.; Hereid, A.; Ames, A.D.; Stilman, M. "Correct Software Synthesis for Stable Speed-Controlled Robotic Walking." (6 2013).
  • Powell, M.J.; Hereid, A.; Ames, A.D. "Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics." (5 2013).


  • Hereid, A.; Hubicki, C.; Cousineau, E.A.; Hurst, J.W. et al. "Hybrid Zero Dynamics based Multiple Shooting Optimization with Applications to Robotic Walking."