Xiaobin Xiong 熊晓滨

Email: xxiong@caltech.edu, xiaobin.xiong@wisc.edu

CV, Google Scholar, GitHub, Media (Videos of Research Work)

I am very excited to join the Department of Mechanical Engineering at the University of Wisconsin-Madison as a tenure-track assistant professor in the Spring of 2023. I am actively looking for self-motivated PhD and MS students to work with me in robotics. If you are interested, do not hesitate to drop me an email and apply! See more information here.

I seek efficient, effective, and elegant solutions to the motion synthesis problem on high-dimensional robotic systems that have hybrid dynamics from the physical interactions with the environment. I am always exploring new tools and techniques that potentially can solve or help to solve the problems I am interested in. My research so far has been mainly focused on bipedal robotic 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.

Education

Awards

  • RoboCup Best Paper Award, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 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

Xiaobin Xiong, Aaron D. Ames

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

In IEEE Transactions on Robotics (T-RO), 2022.

Video, Code

Xiaobin Xiong, Aaron D. Ames

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

In IEEE Robotics and Automation Letter (RA-L), 2021

Video, Code

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

Video

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

Video

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

Video

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

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

I have been fortunate to advise some brilliant students. Check out their progress below.

Underactuated Dynamic Walking on Constrained Footholds

Human Inspired Bipedal Robotic Walking on Downsteps