# A Hierarchical Framework for Quadruped Robots Gait Planning Based on DDPG

> Research article (Biomimetics, 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4386070420](https://www.wikidata.org/wiki/openalex:W4386070420)  
**Source**: https://4ort.xyz/entity/a-hierarchical-framework-for-quadruped-robots-gait-planning-based-on-ddpg