31 citations · 88 across the 16 of their papers we have counts for
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cs.RO2021
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…
cs.RO2021★ 28 cited
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…
cs.RO2021★ 4 cited
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…