Publications

Up-to-date reprints can be found in Xiaobin Xiong’s google scholar.

Underline indicates students of the WELL Lab.

Preprints (Comments are welcome) 

1. 1. Jiarong Kang and Xiaobin Xiong
      Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
      PDF, Video
   2. Yicheng Zeng*, Yuhao huang*, and Xiaobin Xiong
      Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
       PDF, Video
   3. Xiao Lin, Yuhao huang, Taimeng Fu, Xiaobin Xiong, and Chen Wang
      iWalker: Imperative Visual Planning for Walking Humanoid Robot
      PDF, Video
      

Published and To Appear

• Jiarong Kang*, Yi Wang*, and Xiaobin Xiong
  Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
  To Appear In: IEEE Robotics and Automation Letters (RA-L), 2024
  PDF, Video
• Yuhao huang*, Yicheng Zeng*, and Xiaobin Xiong
  STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education
  To appear in: IEEE RAS International Conference on Humanoid Robots (Humanoids), 2024
  PDF, Video
• Yifei Chen, Arturo Gamboa-Gonzalez, Michael Wehner, and Xiaobin Xiong
  Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
  To appear in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
  PDF, Video
• Kejun Li, Jeeseop Kim, Xiaobin Xiong, Kaveh Akbari Hamed, Yisong Yue, and Aaron D Ames
  Data-Driven Predictive Control for Robust Exoskeleton Locomotion
  To appear in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
  PDF
• Yi Wang*, Jiarong Kang*, Zhiheng Chen*, and Xiaobin Xiong
  Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
  In: IEEE International Conference on Robotics and Automation (ICRA), 2024
  PDF, Video
• Min Dai, Xiaobin Xiong, Jaemin Lee, Aaron Ames
  Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
  PDF, Video
• Joris Verhagen, Xiaobin Xiong, Aaron Ames, Ajay Seth
  From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022
  PDF, Video
• Min Dai, Xiaobin Xiong, Aaron D. Ames  
  Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
  In: IEEE International Conference on Robotics and Automation (ICRA), 2022
  PDF, Video
• Xiaobin Xiong, Aaron D. Ames
  3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization
  In: IEEE Transactions on Robotics (T-RO), 2022
  PDF, Video, Publisher’s Version
• Xiaobin Xiong, Yuxiao Chen, Aaron D. Ames  
  Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation 
  In: Conference on Decision and Control (CDC), 2021
  PDF, Video
• Xiaobin Xiong, Jenna Reher, Aaron D. Ames
  Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
  In: IEEE International Conference on Robotics and Automation (ICRA), 2021 PDF, Video
• Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
  Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion 
  In: IEEE Control Systems Letters (L-CSS), 2021
  PDF, Video
• Tyler Westenbroek, Xiaobin Xiong, S. Shankar Sastry, and Aaron Ames
  Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking 
  In: 7th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), 2021
  PDF
• Xiaobin Xiong, Aaron D. Ames
  SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
  In: IEEE Robotics and Automation Letters (RA-L), 2021 PDF, Video
• Xiaobin Xiong, Aaron D. Ames
  Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping 
  In: IEEE Robotics and Automation Letters (RA-L), 2020
  PDF, Video
•  Xiaobin Xiong, Aaron D. Ames
  Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control 
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
  PDF, Video
• H.J. Terry Suh, Xiaobin Xiong, Andrew Singletary, Aaron D. Ames, Joel W. Burdick
  Optimal Motion Planning for Multi-Modal Hybrid Locomotion 
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
  PDF
• Tyler Westenbroek, Xiaobin Xiong, Aaron D. Ames, S. Shankar Sastry
   Optimal Control of Piecewise Smooth Control System via Singular Perturbations 
  In: IEEE Conference on Decision and Control (CDC), 2019
  PDF, Video
• Xiaobin Xiong, Aaron D. Ames
  Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
  PDF, Video
• 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
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
  RoboCup Best Paper Award PDF, Video
• Xiaobin Xiong, Aaron D. Ames
  Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking
  In: IEEE RAS International Conference on Humanoid Robots (Humanoids), 2018
  PDF, Video
• Jonathan Gosyne, Christian Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
  Bipedal Locomotion Up Sandy Slopes: Systematic Planar Experiments Using Zero Moment Point Methods
  In: IEEE RAS International Conference on Humanoid Robots (Humanoids), 2018
  PDF
• Xiaobin Xiong, Aaron D. Ames 
  Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
  PDF, Video
• Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman
  A stability region criterion for flat-footed bipedal walking on deformable granular terrain
  In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
  PDF, Video
• Aneeq Zia, Chi Zhang, Xiaobin Xiong, Anthony Jarc
  Temporal Clustering of Surgical Activities in Robot-assisted Surgery
  In: International Journal of Computer Assisted Radiology and Surgery (IJCARS), 2017
  PDF

Thesis 

1. Xiaobin Xiong Reduced Order Model Inspired Robotic Bipedal Walking: A Step-to-step Dynamics Approximation based Approach.  California Institute of Technology, 2021