31 citations · 42 across the 7 of their papers we have counts for
12 papers
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…
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…
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…