Xiaobin Xiong
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View article: Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion
Reference-Steering via Data-Driven Predictive Control for Hyper-Accurate Robotic Flying-Hopping Locomotion Open
State-of-the-art model-based control designs have been shown to be successful in realizing dynamic locomotion behaviors for robotic systems. The precision of the realized behaviors in terms of locomotion performance via fly, hopping, or wa…
View article: Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation Open
Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and contact kinematics, the locomotion control and planning as…
View article: iWalker: Imperative Visual Planning for Walking Humanoid Robot
iWalker: Imperative Visual Planning for Walking Humanoid Robot Open
Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots stil…
View article: STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education
STRIDE: An Open-Source, Low-Cost, and Versatile Bipedal Robot Platform for Research and Education Open
In this paper, we present STRIDE, a Simple, Terrestrial, Reconfigurable, Intelligent, Dynamic, and Educational bipedal platform. STRIDE aims to propel bipedal robotics research and education by providing a cost-effective implementation wit…
View article: Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE Open
In this paper, we present a fast and decentralized state estimation framework for the control of legged locomotion. The nonlinear estimation of the floating base states is decentralized to an orientation estimation via Extended Kalman Filt…
View article: Data-Driven Predictive Control for Robust Exoskeleton Locomotion
Data-Driven Predictive Control for Robust Exoskeleton Locomotion Open
Exoskeleton locomotion must be robust while being adaptive to different users with and without payloads. To address these challenges, this work introduces a data-driven predictive control (DDPC) framework to synthesize walking gaits for lo…
View article: Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation
Explosive Legged Robotic Hopping: Energy Accumulation and Power Amplification via Pneumatic Augmentation Open
We present a novel pneumatic augmentation to traditional electric motor-actuated legged robot to increase intermittent power density to perform infrequent explosive hopping behaviors. The pneumatic system is composed of a pneumatic pump, a…
View article: Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control
Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control Open
We present a novel controller design on a robotic locomotor that combines an aerial vehicle with a spring-loaded leg. The main motivation is to enable the terrestrial locomotion capability on aerial vehicles so that they can carry heavy lo…
View article: Experimental Investigation on the Dynamic Mechanical Properties and Microstructure Deterioration of Steel Fiber Reinforced Concrete Subjected to Freeze–Thaw Cycles
Experimental Investigation on the Dynamic Mechanical Properties and Microstructure Deterioration of Steel Fiber Reinforced Concrete Subjected to Freeze–Thaw Cycles Open
In this study, the dynamic mechanical properties of steel fiber reinforced concrete under the influence of freeze–thaw cycles were studied. The studied parameters include steel fiber content (0%, 1% and 2%), confining pressures (0, 5 and 1…
View article: From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps Open
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 of this human behavior to bipedal walking robots, even if the mo…
View article: Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics Open
This paper presents an online framework for synthesizing agile locomotion for bipedal robots that adapts to unknown environments, modeling errors, and external disturbances. To this end, we leverage step-to-step (S2S) dynamics which has pr…
View article: From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps
From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps Open
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 of this human behavior to bipedal walking robots, even if …
View article: Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation Open
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) dynamics of the robot that is controlled to have an approx…
View article: Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control
Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control Open
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
View article: SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program Open
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 the decoupling of the controls of the vertical and horizonta…
View article: 3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization
3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization Open
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 emphasis on thorough hardware realization. The H-LIP is propose…
View article: Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking
Smooth Approximations for Hybrid Optimal Control Problems with Application to Robotic Walking Open
This paper investigates optimal control problems formulated over a class of hybrid dynamical systems which display event-triggered discrete jumps. Due to the discontinuous nature of the underlying dynamics, previous approaches to solving o…
View article: Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning Open
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 Inverted Pendulum (H-LIP) based stepping on 3D underactuat…
View article: Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion
Risk-Averse Planning via CVaR Barrier Functions: Application to Bipedal Robot Locomotion Open
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 this case. However, ensuring safety in the statistical mean…
View article: Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion
Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion Open
Enforcing safety of robotic systems in the presence of stochastic uncertainty is a challenging problem. Traditionally,researchers have proposed safety in the statistical mean as a safety measure in this case. However, ensuring safety in th…
View article: Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion Open
Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion trajectori…
View article: Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control Open
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 coupling between an axile hopping motion and a rotational mot…
View article: Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations
Optimal Control of Piecewise-Smooth Control Systems via Singular Perturbations Open
This paper investigates optimal control problems formulated over a class of piecewise-smooth controlled vector fields. Rather than optimizing over the discontinuous system directly, we instead formulate optimal control problems over a fami…
View article: Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control Open
In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Spring-loaded Inverted Pend…
View article: Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model Open
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-1 (P1) and Period-2 (P2) orbits are geometrically c…
View article: Technical Report: Optimal Control of Piecwise-smooth Control Systems via\n Singular Perturbations
Technical Report: Optimal Control of Piecwise-smooth Control Systems via\n Singular Perturbations Open
This paper investigates optimal control problems formulated over a class of\npiecewise-smooth vector fields. Instead of optimizing over the discontinuous\nsystem directly, we instead formulate optimal control problems over a family of\nreg…
View article: Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations
Technical Report: Optimal Control of Piecwise-smooth Control Systems via Singular Perturbations Open
This paper investigates optimal control problems formulated over a class of piecewise-smooth vector fields. Instead of optimizing over the discontinuous system directly, we instead formulate optimal control problems over a family of regula…
View article: Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control
Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control Open
This paper presents the design and validation of controlling hopping on the 3D bipedal robot Cassie. A spring-mass model is identified from the kinematics and compliance of the robot. The spring stiffness and damping are encapsulated by th…
View article: Temporal clustering of surgical activities in robot-assisted surgery
Temporal clustering of surgical activities in robot-assisted surgery Open