A stability region criterion for flat-footed bipedal walking on deformable granular terrain. - Xiaobin Xiong; Aaron D. Ames; Daniel I. Goldman (IROS, 2017)

Temporal clustering of surgical activities in robot-assisted surgery. - Aneeq Zia; Chi Zhang; Xiaobin Xiong; Anthony M. Jarc (Int. J. Comput. Assist. Radiol. Surg., 2017)

Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods. - Jonathan R. Gosyne; Christian M. Hubicki; Xiaobin Xiong; Aaron D. Ames; Daniel I. Goldman (Humanoids, 2018)

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

Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control. - Xiaobin Xiong; Aaron D. Ames (IROS, 2018)

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

Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. - Xiaobin Xiong; Aaron D. Ames (IROS, 2019)

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

Optimal Motion Planning for Multi-Modal Hybrid Locomotion. - Hyung Ju Terry Suh; Xiaobin Xiong; Andrew Singletary; Aaron D. Ames; Joel W. Burdick (CoRR, 2019)

Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion. - Hyung Ju Terry Suh; Xiaobin Xiong; Andrew Singletary; Aaron D. Ames; Joel W. Burdick (IROS, 2020)

Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control. - Xiaobin Xiong; Aaron D. Ames (IROS, 2020)

Risk-Sensitive Path Planning via CVaR Barrier Functions: Application to Bipedal Locomotion. - Mohamadreza Ahmadi; Xiaobin Xiong; Aaron D. Ames (CoRR, 2020)

Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model With Hybrid LIP Based Stepping. - Xiaobin Xiong; Aaron D. Ames (IEEE Robotics Autom. Lett., 2020)

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

Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation. - Xiaobin Xiong; Yuxiao Chen 001; Aaron D. Ames (CDC, 2021)

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

3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization. - Xiaobin Xiong; Aaron D. Ames (CoRR, 2021)

SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. - Xiaobin Xiong; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)

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

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

Data-driven Step-to-step Dynamics based Adaptive Control for Robust and Versatile Underactuated Bipedal Robotic Walking. - Min Dai; Xiaobin Xiong; Aaron D. Ames (CoRR, 2022)

Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion. - Mohamadreza Ahmadi; Xiaobin Xiong; Aaron D. Ames (IEEE Control. Syst. Lett., 2022)

3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization. - Xiaobin Xiong; Aaron D. Ames (IEEE Trans. Robotics, 2022)

Data-Driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics. - Min Dai; Xiaobin Xiong; Jaemin Lee; Aaron D. Ames (IROS, 2023)

Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control. - Yi Wang; Jiarong Kang; Zhiheng Chen; Xiaobin Xiong (CoRR, 2023)

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

Terrestrial Locomotion of PogoX: From Hardware Design to Energy Shaping and Step-to-step Dynamics Based Control. - Yi Wang 099; Jiarong Kang; Zhiheng Chen; Xiaobin Xiong (ICRA, 2024)

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

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

Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE. - Jiarong Kang; Yi Wang; Xiaobin Xiong (CoRR, 2024)

iWalker: Imperative Visual Planning for Walking Humanoid Robot. - Xiao Lin; Yuhao Huang; Taimeng Fu; Xiaobin Xiong; Chen Wang (CoRR, 2024)

Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation. - Jiarong Kang; Xiaobin Xiong (CoRR, 2024)

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

Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE. - Jiarong Kang; Yi Wang 099; Xiaobin Xiong (IEEE Robotics Autom. Lett., 2024)