31 citations · 88 across the 16 of their papers we have counts for
17 papers
Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Kejun Li, Jeeseop Kim, Xiaobin Xiong +3
Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive…
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
Yifei Chen, Arturo Gamboa-Gonzalez, Michael Wehner +1
We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behavio…
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
Yi Wang, Jiarong Kang, Zhiheng Chen +1
We present a novel controller design on a robotic locomotor that combines an aerial vehicle with a spring-loaded leg. The main motivation is to enable the terrestrial locomotion ca…
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
Joris Verhagen, Xiaobin Xiong, Aaron Ames +1
Humans are able to negotiate downstep behaviors -- both planned and unplanned -- with remarkable agility and ease. The goal of this paper is to systematically study the translation…
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics
Min Dai, Xiaobin Xiong, Jaemin Lee +1
This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To thi…
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
Xiaobin Xiong, Yuxiao Chen, Aaron Ames
We present a stepping stabilization control that addresses external push disturbances on bipedal walking robots. The stepping control is synthesized based on the step-to-step (S2S)…
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
Min Dai, Xiaobin Xiong, Aaron Ames
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates t…
SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
Xiaobin Xiong, Aaron Ames
We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model to walk over rough and challenging terrains. The high-level philosophy is t…
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization
Xiaobin Xiong, Aaron Ames
In this paper, we holistically present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D foot-underactuated bipedal walking, with an emph…
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Xiaobin Xiong, Jenna Reher, Aaron Ames
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear…
Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion
Mohamadreza Ahmadi, Xiaobin Xiong, Aaron D. Ames
Enforcing safety in the presence of stochastic uncertainty is a challenging problem. Traditionally, researchers have proposed safety in the statistical mean as a safety measure in…
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,…
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
H. J. Terry Suh, Xiaobin Xiong, Andrew Singletary +2
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a…
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control
Xiaobin Xiong, Aaron Ames
This paper presents the design and validation of controlling hopping on the 3D bipedal robot Cassie. A spring-mass model is identified from the kinematics and compliance of the rob…