# A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances

> Research article (2018 IEEE International Conference on Robotics and Automation (ICRA), 2018) · cited 37× · AI/ML

**Wikidata**: [openalex:W2795034878](https://www.wikidata.org/wiki/openalex:W2795034878)  
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