Xiaobin Xiong (熊晓滨),

Postdoctoral Researcher, California Institute of Technology

Email: xxiong@caltech.edu

CV, Google Scholar, Youtube (Videos of Research Work)

I seek efficient, effective, and elegant solutions to challenging control problems on high dimensional robotic systems. I am always open to trying new tools and techniques that potentially can solve or help to solve the problems I am interested in. My research has been mainly focused on legged locomotion, including dynamic motion planning and feedback control synthesis, using a variety of techniques from dynamics modeling, control theory, numerical optimization, and data-driven approximations.


  • PhD in Mechanical Engineering, Thesis, Advisor: Aaron Ames (Amber Lab), California Institute of Technology, May 2021

  • Master's in Mechanical Engineering, Advisor: Kevin M Lynch and Paul Umbanhowar, Northwestern University, 2015

  • B.S. in Mechanical Engineering, Tongji University, 2013


  • IROS RoboCup Best Paper Award, 2019

  • Amazon Fellowship in Artificial Intelligence, Information Science and Technology (IST) Caltech & Amazon, 2019

  • Simoudis Discovery Fund, Information Science and Technology (IST) Caltech, 2018

  • Graduate Student Travel Grant, Caltech, 2019

  • IROS Student and Developing Countries (SDC) Travel Award, 2018 & 2019

  • IROS-NSF Doctoral Consortium/Travel Award, IEEE, 2017

  • Mubea scholarship, 2012, Enn New Energy scholarship, 2011, External scholarship for Tongji University

  • 1st class scholarship (2012, 2011), 2nd class scholarship (2010), Outstanding Student Award (2012), Tongji University

  • Second Prize of the National Driverless Car Competition, Freescale Ltd & Ministry of Education of China, 2012

Selected Publications (Full List Link)

Xiaobin Xiong, Aaron D. Ames

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

Submitted to IEEE Trans. on Robotics.


Xiaobin Xiong, Aaron D. Ames

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

In IEEE Robotics and Automation Letter (RA-L), 2020


Xiaobin Xiong, Aaron D. Ames

Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control

In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020


Xiaobin Xiong, Aaron D. Ames

Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control

In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018


Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman

A stability region criterion for flat-footed bipedal walking on deformable granular terrain

In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017


Video Highlights

Blind Walking on Bad Terrain

Persistent Push Recovery

Underactuated Bipedal Walking via Stepping

Walking on Deformable Terrain with Model-based Methods

Global Position Tracking via Step-to-step Approximation

Humanoid Walking via SLIP Model Embedding

Bipedal Hopping via Spring-mass Approximation

Sequential Planning for Bipedal Somersaulting