Publications

Up-to-date reprints can be found in Xiaobin Xiong’s google scholar.

Under Construction

Jiarong Kang 康家荣, Xiaobin Xiong 熊晓滨 (2025). Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation. In ICRA.

Xiao Lin, Yuhao Huang, Taimeng Fu, Xiaobin Xiong 熊晓滨, Chen Wang (2025). iWalker: Imperative Visual Planning for Walking Humanoid Robot.

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Yicheng Zeng, Yuhao Huang, Xiaobin Xiong 熊晓滨 (2024). Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion.

Kejun Li, Jeeseop Kim, Xiaobin Xiong 熊晓滨, Kaveh Akbari Hamed, Yisong Yue, Aaron D. Ames (2024). Data-Driven Predictive Control for Robust Exoskeleton Locomotion. In IROS.

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Jiarong Kang 康家荣, Yi Wang, Xiaobin Xiong 熊晓滨 (2024). Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE. In IEEE RA-L.

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Yifei Chen, Arturo Gamboa-Gonzalez, Michael Wehner, Xiaobin Xiong 熊晓滨 (2024). Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation. In IROS.

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Yuhao Huang, Yicheng Zeng, Xiaobin Xiong 熊晓滨 (2024). STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education. In Humanoids.

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Yi Wang, Jiarong Kang 康家荣, Xiaobin Xiong 熊晓滨 (2024). Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control. In ICRA.

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Min Dai, Xiaobin Xiong 熊晓滨, Jaemin Lee, Aaron D. Ames (2023). Data-Driven Predictive Control for Robust Exoskeleton Locomotion. In IROS.

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Joris Verhagen, Xiaobin Xiong 熊晓滨, Aaron D. Ames (2022). From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps. In IROS.

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Min Dai, Xiaobin Xiong 熊晓滨, Aaron D. Ames (2022). Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control. In ICRA.

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Xiaobin Xiong 熊晓滨, Aaron Ames (2022). 3D underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization. IEEE T-RO.

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Xiaobin Xiong 熊晓滨, Yuxiao Chen, Aaron D. Ames (2021). Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. In IEEE CDC.

Xiaobin Xiong 熊晓滨, Jenna Reher, Aaron Ames (2021). Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning. In ICRA.

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Tyler Westenbroek, Xiaobin Xiong 熊晓滨, S Shankar Sastry, Aaron D. Ames (2021). Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking.

Mohamadreza Ahmadi, Xiaobin Xiong 熊晓滨, Aaron D Ames (2021). Risk-averse control via CVaR barrier functions: Application to bipedal robot locomotion. In L-CSS.

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Xiaobin Xiong 熊晓滨, Aaron Ames (2021). Slip walking over rough terrain via h-lip stepping and backstepping-barrier function inspired quadratic program. In IEEE RA-L.

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Xiaobin Xiong 熊晓滨, Aaron Ames (2020). Sequential motion planning for bipedal somersault via flywheel slip and momentum transmission with task space control. In IROS.

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H.J. Terry Suh, Xiaobin Xiong 熊晓滨, Andrew Singletary, Aaron Ames, Joel Burdick (2020). Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. In IROS.

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Xiaobin Xiong 熊晓滨, Aaron Ames (2020). Dynamic and versatile humanoid walking via embedding 3d actuated slip model with hybrid lip based stepping. IEEE RA-L.

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Tyler Westenbroek, Xiaobin Xiong 熊晓滨, Aaron Ames, Shankar Sastry (2019). Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations. In CDC.

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Xiaobin Xiong 熊晓滨, Aaron D Ames (2019). Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. In IROS.

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Xiaobin Xiong 熊晓滨, Aaron Ames (2019). Motion decoupling and composition via reduced order model optimization for dynamic humanoid walking with clf-qp based active force control. In IROS.

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Xiaobin Xiong 熊晓滨, Aaron D. Ames (2018). Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking. In Humanoids.

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Jonathan R Gosyne, Christian M Hubicki, Xiaobin Xiong 熊晓滨, Aaron D Ames, Daniel I Goldman (2018). Bipedial locomotion up sandy slopes: Systematic experiments using zero moment point methods.

Xiaobin Xiong 熊晓滨, Aaron Ames (2018). Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control. In IROS.

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Xiaobin Xiong 熊晓滨, Aaron Ames, Daniel Goldman (2017). A Stability Region Criterion for Flat-footed Bipedal Walking on Deformable Granular Terrain. In IROS.

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Aneeq Zia, Chi Zhang, Xiaobin Xiong 熊晓滨, Anthony M Jarc (2017). Temporal clustering of surgical activities in robot-assisted surgery. In IJCARS.