Xiaobin Xiong

Publication Activity (10 Years)

Years Active: 2017-2024
Publications (10 Years): 40

Top Topics

Motion Planning

Control Problems

Top Venues

IEEE Robotics Autom. Lett.

Publications

Yuhao Huang, Yicheng Zeng, Xiaobin Xiong
STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education. CoRR (2024)
Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
Data-Driven Predictive Control for Robust Exoskeleton Locomotion. CoRR (2024)
Jiarong Kang, Yi Wang, Xiaobin Xiong
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE. CoRR (2024)
Yi Wang, Jiarong Kang, Zhiheng Chen, Xiaobin Xiong
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control. ICRA (2024)
Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron D. Ames
Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. IROS (2023)
Yi Wang, Jiarong Kang, Zhiheng Chen, Xiaobin Xiong
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control. CoRR (2023)
Yifei Chen, Arturo Gamboa-Gonzalez, Michael Wehner, Xiaobin Xiong
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation. CoRR (2023)
Xiaobin Xiong, Aaron D. Ames
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. IEEE Trans. Robotics 38 (4) (2022)
Min Dai, Xiaobin Xiong, Aaron D. Ames
Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking. CoRR (2022)
Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. IROS (2022)
Min Dai, Xiaobin Xiong, Aaron D. Ames
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. ICRA (2022)
Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. IEEE Control. Syst. Lett. 6 (2022)
Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. CoRR (2022)
Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CoRR (2022)
Min Dai, Xiaobin Xiong, Aaron D. Ames
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. CoRR (2021)
Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, Aaron D. Ames
Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking. ADHS (2021)
Xiaobin Xiong, Aaron D. Ames
SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. IEEE Robotics Autom. Lett. 6 (2) (2021)
Xiaobin Xiong, Jenna Reher, Aaron D. Ames
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. ICRA (2021)
Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. CDC (2021)
Xiaobin Xiong, Aaron D. Ames
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. CoRR (2021)
Xiaobin Xiong, Aaron D. Ames
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization. CoRR (2021)
Xiaobin Xiong, Aaron D. Ames
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping. IEEE Robotics Autom. Lett. 5 (4) (2020)
Xiaobin Xiong, Aaron D. Ames
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. IROS (2020)
Xiaobin Xiong, Aaron D. Ames
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping. CoRR (2020)
Xiaobin Xiong, Jenna Reher, Aaron D. Ames
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. CoRR (2020)
Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion. CoRR (2020)
Xiaobin Xiong, Aaron D. Ames
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. CoRR (2020)
Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. IROS (2020)
Xiaobin Xiong, Aaron D. Ames
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. CoRR (2019)
Xiaobin Xiong, Aaron D. Ames
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. IROS (2019)
Xiaobin Xiong, Aaron D. Ames
Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. IROS (2019)
Tyler Westenbroek, Xiaobin Xiong, Aaron D. Ames, S. Shankar Sastry
Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations. CDC (2019)
Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
Optimal Motion Planning for Multi-Modal Hybrid Locomotion. CoRR (2019)
Xiaobin Xiong, Aaron D. Ames
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. CoRR (2019)
Xiaobin Xiong, Aaron D. Ames
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control. CoRR (2018)
Xiaobin Xiong, Aaron D. Ames
Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking. Humanoids (2018)
Xiaobin Xiong, Aaron D. Ames
Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control. IROS (2018)
Jonathan R. Gosyne, Christian M. Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. Humanoids (2018)
Aneeq Zia, Chi Zhang, Xiaobin Xiong, Anthony M. Jarc
Temporal clustering of surgical activities in robot-assisted surgery. Int. J. Comput. Assist. Radiol. Surg. 12 (7) (2017)
Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
A stability region criterion for flat-footed bipedal walking on deformable granular terrain. IROS (2017)