Ph.D. Candidate in Mechanical Engineering, Department of Mechanical and Civil Engineering

California Institute of Technology

Graduate Research Assistant

Email: xxiong@caltech.edu

About: My research interests center around hybrid dynamics and controls of robotic locomotion systems. I like to exploit simple low dimensional dynamics models for motion planning and controls on high dimensional robots. I am also very interested in applying and extending various machine learning algorithms for dynamic locomotion problems with high degrees of freedoms and underactuation. Currently I am working on bipedal locomotion on the robot Cassie, under the supervision of Aaron Ames.

Education

  • PhD student in Mechanical Engineering, California Institute of Technology
  • Master's in Mechanical Engineering, Northwestern University, Mar. 2015
  • B.E. in Mechanical Engineering, Shanghai Tongji University, May 2013

Work Experience

  • Medial Research Intern, Mentor: Dr. Anthony Jarc, Intuitive Surgical Inc. 2016

Teaching Experience

  • Teaching Assistant, 2018 Spring, CDS 233 Nonlinear Control (Graduate level), Caltech
  • Teaching Assistant, 2018 Winter, CDS 232 Nonlinear Dynamics (Graduate level), Caltech

Publication

  • Tyler Westenbroek, Xiaobin Xiong, Aaron D. Ames, S. Shankar Sastry, Optimal Control of Piecewise Smooth Control System via Singular Perturbations, Submitted to IEEE Conference on Decision and Control (CDC), 2019
  • Xiaobin Xiong, Aaron D. Ames, Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model, Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
  • Xiaobin Xiong, Aaron D. Ames, Motion Decoupling and Composition via Reduced Order Model Optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control, Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
  • Xiaobin Xiong, Aaron D. Ames, Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking, In IEEE RAS International Conference on Humanoid Robots (Humanoids), 2018 BibTex
  • Jonathan Gosyne, Christian Hubicki, Xiaobin Xiong, Aaron D. Ames, Daniel I. Goldman, Bipedal Locomotion Up Sandy Slopes: Systematic Planar Experiments Using Zero Moment Point Methods, In IEEE RAS International Conference on Humanoid Robots (Humanoids), 2018 BibTex
  • 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 BibTex
  • 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 BibTex
  • Aneeq Zia, Chi Zhang, Xiaobin Xiong, Anthony Jarc, Temporal clustering of surgical activities in robot-assisted surgery, International Journal of Computer Assisted Radiology and Surgery (IJCARS), 2017 BibTex
  • Aneeq Zia, Chi Zhang, Xiaobin Xiong, Anthony Jarc, Temporal clustering of surgical activities in robot-assisted surgery, Information Processing in Computer-Assisted Interventions (IPCAI), 2017
  • Xiaobin Xiong, Paul B. Umbanhowar, Kevin M. Lynch, Simultaneous manipulation of multiple point objects in velocity fields, (In preparation)

Conference Abstracts and Presentations

  • 2017 Xiaobin Xiong, Aaron Ames, Bipedal walking on homogeneous granular terrain with model-based approaches (Poster), in workshop of Planning Legged and Aerial Locomotion with Dynamic Motion Primitives, IROS, 2017
  • 2017 Xiaobin Xiong, Jeffrey Aguilar, Jennifer Rieser, Allison Kim, Aaron Ames, Daniel Goldman, Overshoot intrusion forces promote robophysical bipedal walking on homogeneous granular media, APS March Meeting, New Orleans LA
  • 2015 Xiaobin Xiong, Chaohui Gong, Daniel Goldman, Geometric mechanics in locomotion, Physics of Living Systems (iPoLS), Arlington VA

Awards

  • Amazon Fellowship in AI, Information Science and Technology (IST) Caltech & Amazon, 2018-2019
  • Simoudis Discovery Fund, Information Science and Technology (IST) Caltech, 2017-2018
  • IROS Student and Developing Countries (SDC) Travel Award, IEEE, 2018
  • IROS-NSF Doctoral Consortium , IEEE, 2017
  • Mubea scholarship, 2012, Enn New Energy scholarship, 2011, External scholarship for Tongji University
  • 1st class scholarship (2012, 2011), 2nd class scholarship (2010), Tongji University
  • Outstanding Student Award, Tongji University, 2012
  • Second Prize of the National University Intelligent Car Competition, Ministry of Education of China, 2012

Video Gallery

Fun Projects

competition moment.m4v
simulation.wmv
good.MOV