31 citations · 40 across the 5 of their papers we have counts for
5 papers
Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping
Xiaobin Xiong, Aaron Ames
In this paper, we propose an efficient approach to generate dynamic and versatile humanoid walking with non-constant center of mass (COM) height. We exploit the benefits of using r…
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
Xiaobin Xiong, Aaron Ames
In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots. The somersault (backflip or frontflip) is considered as a co…
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
Xiaobin Xiong, Aaron Ames
In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced ord…
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
Xiaobin Xiong, Aaron Ames
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically,…
Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations
Tyler Westenbroek, Xiaobin Xiong, Aaron D Ames +1
This paper investigates optimal control problems formulated over a class of piecewise-smooth vector fields. Instead of optimizing over the discontinuous system directly, we instead…