# A Hierarchical Framework for Quadruped Locomotion Based on Reinforcement Learning

> Research article (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021) · cited 20× · AI/ML

**Wikidata**: [openalex:W4200273126](https://www.wikidata.org/wiki/openalex:W4200273126)  
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