31 citations · 88 across the 16 of their papers we have counts for
4 papers · 1 filter
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…