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Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs


Sep 15, 2022
Wyatt Ubellacker, Aaron Ames


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From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps


Sep 07, 2022
Joris Verhagen, Xiaobin Xiong, Aaron Ames, Ajay Seth

* 8 pages, 9 figures 

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Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation


Jan 26, 2022
Xiaobin Xiong, Yuxiao Chen, Aaron Ames

* in CDC 2021 

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Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control


Apr 21, 2021
Min Dai, Xiaobin Xiong, Aaron Ames


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SLIP Walking over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program


Feb 19, 2021
Xiaobin Xiong, Aaron Ames

* 8 pages, 7 figures. To Appear in IEEE Robotics and Automation Letters, 2021 

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3D Underactuated Bipedal Walking via H-LIP based Gait Synthesis and Stepping Stabilization


Feb 05, 2021
Xiaobin Xiong, Aaron Ames

* 20 pages, 24 figures. Paper under review, comments are sincerely welcome 

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Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning


Nov 11, 2020
Xiaobin Xiong, Jenna Reher, Aaron Ames

* 7 pages, 8 figures. Under Review 

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Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance


Oct 19, 2020
Andrew Singletary, Karl Klingebiel, Joseph Bourne, Andrew Browning, Phil Tokumaru, Aaron Ames

* 8 pages, submitted to RA-L 

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Dynamic and Versatile Humanoid Walking via Embedding 3D Actuated SLIP Model with Hybrid LIP Based Stepping


Aug 06, 2020
Xiaobin Xiong, Aaron Ames

* 8 pages, 8 figures; To appear in Robotics and Automation Letters 

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