31 citations · 88 across the 16 of their papers we have counts for
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cs.RO2022
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…
cs.RO2022★ 1 cited
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…
cs.RO2022
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)…