# A Hierarchical Geometric Framework to Design Locomotive Gaits for Highly Articulated Robots

> Research article (Robotics: Science and Systems XV, 2019) · cited 17× · AI/ML

**Wikidata**: [openalex:W2968154301](https://www.wikidata.org/wiki/openalex:W2968154301)  
**Source**: https://4ort.xyz/entity/a-hierarchical-geometric-framework-to-design-locomotive-gaits-for-highly-articulated-robots