| 2025 | ICRA | Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions. | Chengyang Peng, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid |
| 2025 | IROS | Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds. | Zhaoyang Xiang, Victor Paredes, Guillermo A. Castillo, Ayonga Hereid |
| 2024 | ICRA | Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning. | Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid |
| 2024 | ICRA | Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications. | Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang, Ayonga Hereid |
| 2023 | ICRA | Safe Bipedal Path Planning via Control Barrier Functions for Polynomial Shape Obstacles Estimated Using Logistic Regression. | Chengyang Peng, Octavian A. Donca, Guillermo A. Castillo, Ayonga Hereid |
| 2023 | IROS | Template Model Inspired Task Space Learning for Robust Bipedal Locomotion. | Guillermo A. Castillo, Bowen Weng, Shunpeng Yang, Wei Zhang, Ayonga Hereid |
| 2023 | IROS | MELP: Model Embedded Linear Policies for Robust Bipedal Hopping. | Raghav Soni, Guillermo A. Castillo, Lokesh Krishna, Ayonga Hereid, Shishir Kolathaya |
| 2022 | IROS | Resolved Motion Control for 3D Underactuated Bipedal Walking using Linear Inverted Pendulum Dynamics and Neural Adaptation. | Victor C. Paredes, Ayonga Hereid |
| 2022 | IROS | On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots. | Bowen Weng, Guillermo A. Castillo, Wei Zhang, Ayonga Hereid |
| 2021 | IROS | Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot. | Guillermo A. Castillo, Bowen Weng, Wei Zhang, Ayonga Hereid |
| 2021 | IROS | Learning Linear Policies for Robust Bipedal Locomotion on Terrains with Varying Slopes. | Lokesh Krishna, Utkarsh A. Mishra, Guillermo A. Castillo, Ayonga Hereid, Shishir Kolathaya |
| 2020 | ICRA | 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 | IROS | 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 |
| 2019 | ICRA | Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT. | Guillermo A. Castillo, Bowen Weng, Ayonga Hereid, Zheng Wang, Wei Zhang |
| 2019 | IROS | Rapid Trajectory optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped. | Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle |
| 2018 | ICRA | Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons. | Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, Ayonga Hereid, Omar Harib, Matthieu Masselin, Jessy W. Grizzle, Aaron D. Ames |
| 2017 | IROS | FROST∗: Fast robot optimization and simulation toolkit. | Ayonga Hereid, Aaron D. Ames |
| 2016 | ICRA | 3D dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics. | Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames |
| 2016 | ICRA | Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion. | Christian M. Hubicki, Ayonga Hereid, Michael X. Grey, Andrea Lockerd Thomaz, Aaron D. Ames |
| 2016 | ICRA | Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. | Jacob Reher, Eric A. Cousineau, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames |
| 2016 | IROS | Efficient HZD gait generation for three-dimensional underactuated humanoid running. | Wen-Loong Ma, Ayonga Hereid, Christian M. Hubicki, Aaron D. Ames |
| 2016 | WAFR | Algorithmic Foundations of Realizing Multi-Contact Locomotion on the Humanoid Robot DURUS. | Jacob P. Reher, Ayonga Hereid, Shishir Kolathaya, Christian M. Hubicki, Aaron D. Ames |
| 2015 | ICRA | Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. | Ayonga Hereid, Christian Hubicki, Eric A. Cousineau, Jonathan W. Hurst, Aaron D. Ames |
| 2013 | ICRA | Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. | Matthew J. Powell, Ayonga Hereid, Aaron D. Ames |