Papers
27
Total Citations
518
H-Index
11
About
Xiaobin Xiong is a leading researcher in bipedal robotics, specializing in the control and stabilization of underactuated walking and dynamic maneuvers. His major contributions center on the development of reduced-order models—most notably the Hybrid-Linear Inverted Pendulum (H-LIP)—which he has used to synthesize and stabilize 3D walking on robots like Cassie. Xiong’s work bridges theory and hardware, achieving robust locomotion on deformable terrain and constrained footholds through innovative momentum regulation and vertical center-of-mass control. His papers have garnered hundreds of citations, with top works like “Bipedal Hopping” (99 citations) and “3-D Underactuated Bipedal Walking” (90 citations) demonstrating his impact. Beyond walking, he has pioneered risk-averse control using CVaR barrier functions for safety under uncertainty, and even extended bipedal agility to acrobatic feats like somersaults via flywheel SLIP models. His research is essential reading for anyone interested in dynamic, real-world bipedal locomotion.
Research Focus
Key Achievements
Top Papers
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- 5Temporal clustering of surgical activities in robot-assisted surgery36 citations · 2017
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