| Bipedal Hopping: Reduced Order Model Embedding via Optimization-based Control X Xiong, A Ames 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 | 106* | 2018 |
| 3D underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization X Xiong, A Ames IEEE Transactions on Robotics (T-RO), arXiv preprint arXiv:2101.09588, 2022 | 83 | 2022 |
| Risk-averse control via CVaR barrier functions: Application to bipedal robot locomotion M Ahmadi, X Xiong, AD Ames IEEE Control Systems Letters 6, 878-883, 2021 | 64* | 2021 |
| Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning X Xiong, J Reher, A Ames ICRA 2021, arXiv preprint arXiv:2011.06050, 2021 | 41 | 2021 |
| Dynamic and versatile humanoid walking via embedding 3d actuated slip model with hybrid lip based stepping X Xiong, A Ames IEEE Robotics and Automation Letter, 2020 | 40 | 2020 |
| Orbit characterization, stabilization and composition on 3d underactuated bipedal walking via hybrid passive linear inverted pendulum model X Xiong, A Ames 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019 | 37* | 2019 |
| Temporal clustering of surgical activities in robot-assisted surgery A Zia, C Zhang, X Xiong, AM Jarc International journal of computer assisted radiology and surgery 12 (7 …, 2017 | 37 | 2017 |
| Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking X Xiong, AD Ames 2018 IEEE RAS International Conference on Humanoid Robots (Humanoids), 2018 | 36 | 2018 |
| A Stability Region Criterion for Flat-footed Bipedal Walking on Deformable Granular Terrain X Xiong, AD Ames, DI Goldman 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2017 | 34 | 2017 |
| Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control M Dai, X Xiong, A Ames in ICRA 2022, arXiv preprint arXiv:2104.10367, 2022 | 27 | 2022 |
| Slip walking over rough terrain via h-lip stepping and backstepping-barrier function inspired quadratic program X Xiong, A Ames IEEE Robotics and Automation Letters 6 (2), 2122-2129, 2021 | 27 | 2021 |
| Energy-efficient motion planning for multi-modal hybrid locomotion HJT Suh, X Xiong, A Singletary, AD Ames, JW Burdick 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020 | 20* | 2020 |
| Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control X Xiong, A Ames IROS 2020, 2020 | 15 | 2020 |
| Data-driven adaptation for robust bipedal locomotion with step-to-step dynamics M Dai, X Xiong, J Lee, AD Ames 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023 | 13* | 2023 |
| Motion decoupling and composition via reduced order model optimization for dynamic humanoid walking with clf-qp based active force control X Xiong, A Ames IROS 2019, 2019 | 11 | 2019 |
| Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation X Xiong, Y Chen, A Ames IEEE CDC 2021, arXiv preprint arXiv:2201.10749, 2022 | 10 | 2022 |
| Optimal control of piecewise-smooth control systems via singular perturbations T Westenbroek, X Xiong, AD Ames, SS Sastry 2019 IEEE 58th Conference on Decision and Control (CDC), 3046-3053, 2019 | 10* | 2019 |
| Terrestrial locomotion of pogox: From hardware design to energy shaping and step-to-step dynamics based control Y Wang, J Kang, Z Chen, X Xiong ICRA 2024, arXiv preprint arXiv:2309.13737, 2023 | 4 | 2023 |
| From Human Walking to Bipedal Robot Locomotion: Reflex Inspired Compensation on Planned and Unplanned Downsteps J Verhagen, X Xiong, A Ames, A Seth IROS 2022, arXiv preprint arXiv:2209.02995, 2022 | 3 | 2022 |
| Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE J Kang, Y Wang, X Xiong IEEE Robotics and Automation Letters, arXiv preprint arXiv:2405.20567, 2024 | 2 | 2024 |
Aaron D. AmesBren Professor, Mechanical and Civil Engineering, Control and Dynamical Systems, CaltechVerified email at cds.caltech.edu
