Xiaobin Xiong

54 papers A* 4A 12Journal 32Unranked 6
YearRankTypeTitle / Venue / Authors
2026 J jnl
Articulated-Body Dynamics Network: Dynamics-Grounded Prior for Robot Learning.
CoRR
Sangwoo Shin, Kunzhao Ren, Xiaobin Xiong, Josiah P. Hanna
2026 J jnl
Efficient and Versatile Quadrupedal Skating: Optimal Co-design via Reinforcement Learning and Bayesian Optimization.
CoRR
Hanwen Wang, Zhenlong Fang, Josiah Hanna, Xiaobin Xiong
2026 J jnl
SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization.
CoRR
Hanwen Wang, Qiayuan Liao, Bike Zhang, Kunzhao Ren, Koushil Sreenath, Xiaobin Xiong
2025 A conf
Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion.
IROS
Yicheng Zeng, Yuhao Huang, Xiaobin Xiong
2025 J jnl
Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization.
CoRR
Denglin Cheng, Jiarong Kang, Xiaobin Xiong
2025 A* conf
Simultaneous Ground Reaction Force and State Estimation Via Constrained Moving Horizon Estimation.
ICRA
Jiarong Kang, Xiaobin Xiong
2025 A conf
iWalker: Imperative Visual Planning for Walking Humanoid Robot.
IROS
Xiao Lin, Yuhao Huang, Taimeng Fu, Xiaobin Xiong, Chen Wang
2024 A conf
Data-Driven Predictive Control for Robust Exoskeleton Locomotion.
IROS
Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
2024 J jnl
Data-Driven Predictive Control for Robust Exoskeleton Locomotion.
CoRR
Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames
2024 A conf
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation.
IROS
Yifei Chen, Arturo Gamboa-Gonzalez, Michael Wehner, Xiaobin Xiong
2024 J jnl
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE.
CoRR
Jiarong Kang, Yi Wang, Xiaobin Xiong
2024 J jnl
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE.
IEEE Robotics Autom. Lett.
Jiarong Kang, Yi Wang, Xiaobin Xiong
2024 J jnl
Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion.
CoRR
Yicheng Zeng, Yuhao Huang, Xiaobin Xiong
2024 — conf
STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education.
Humanoids
Yuhao Huang, Yicheng Zeng, Xiaobin Xiong
2024 J jnl
STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education.
CoRR
Yuhao Huang, Yicheng Zeng, Xiaobin Xiong
2024 J jnl
Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation.
CoRR
Jiarong Kang, Xiaobin Xiong
2024 A* conf
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control.
ICRA
Yi Wang, Jiarong Kang, Zhiheng Chen, Xiaobin Xiong
2024 J jnl
iWalker: Imperative Visual Planning for Walking Humanoid Robot.
CoRR
Xiao Lin, Yuhao Huang, Taimeng Fu, Xiaobin Xiong, Chen Wang
2023 A conf
Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics.
IROS
Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron D. Ames
2023 J jnl
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation.
CoRR
Yifei Chen, Arturo Gamboa-Gonzalez, Michael Wehner, Xiaobin Xiong
2023 J jnl
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control.
CoRR
Yi Wang, Jiarong Kang, Zhiheng Chen, Xiaobin Xiong
2022 J jnl
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization.
IEEE Trans. Robotics
Xiaobin Xiong, Aaron D. Ames
2022 A* conf
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control.
ICRA
Min Dai, Xiaobin Xiong, Aaron D. Ames
2022 J jnl
Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking.
CoRR
Min Dai, Xiaobin Xiong, Aaron D. Ames
2022 A conf
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps.
IROS
Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth
2022 J jnl
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps.
CoRR
Joris Verhagen, Xiaobin Xiong, Aaron D. Ames, Ajay Seth
2022 J jnl
Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion.
IEEE Control. Syst. Lett.
Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
2022 J jnl
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation.
CoRR
Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames
2021 J jnl
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization.
CoRR
Xiaobin Xiong, Aaron D. Ames
2021 J jnl
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control.
CoRR
Min Dai, Xiaobin Xiong, Aaron D. Ames
2021 A* conf
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning.
ICRA
Xiaobin Xiong, Jenna Reher, Aaron D. Ames
2021 — conf
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation.
CDC
Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames
2021 J jnl
SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program.
IEEE Robotics Autom. Lett.
Xiaobin Xiong, Aaron D. Ames
2021 J jnl
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program.
CoRR
Xiaobin Xiong, Aaron D. Ames
2021 — conf
Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking.
ADHS
Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, Aaron D. Ames
2020 J jnl
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping.
IEEE Robotics Autom. Lett.
Xiaobin Xiong, Aaron D. Ames
2020 J jnl
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping.
CoRR
Xiaobin Xiong, Aaron D. Ames
2020 A conf
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion.
IROS
Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
2020 J jnl
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning.
CoRR
Xiaobin Xiong, Jenna Reher, Aaron D. Ames
2020 J jnl
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion.
CoRR
Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
2020 A conf
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control.
IROS
Xiaobin Xiong, Aaron D. Ames
2020 J jnl
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control.
CoRR
Xiaobin Xiong, Aaron D. Ames
2019 J jnl
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control.
CoRR
Xiaobin Xiong, Aaron D. Ames
2019 A conf
Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control.
IROS
Xiaobin Xiong, Aaron D. Ames
2019 — conf
Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations.
CDC
Tyler Westenbroek, Xiaobin Xiong, Aaron D. Ames, S. Shankar Sastry
2019 J jnl
Optimal Motion Planning for Multi-Modal Hybrid Locomotion.
CoRR
Hyung Ju Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
2019 A conf
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model.
IROS
Xiaobin Xiong, Aaron D. Ames
2019 J jnl
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model.
CoRR
Xiaobin Xiong, Aaron D. Ames
2018 A conf
Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control.
IROS
Xiaobin Xiong, Aaron D. Ames
2018 J jnl
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control.
CoRR
Xiaobin Xiong, Aaron D. Ames
2018 — conf
Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods.
Humanoids
Jonathan R. Gosyne, Christian M. Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
2018 — conf
Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking.
Humanoids
Xiaobin Xiong, Aaron D. Ames
2017 A conf
A stability region criterion for flat-footed bipedal walking on deformable granular terrain.
IROS
Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
2017 J jnl
Temporal clustering of surgical activities in robot-assisted surgery.
Int. J. Comput. Assist. Radiol. Surg.
Aneeq Zia, Chi Zhang, Xiaobin Xiong, Anthony M. Jarc