# A Stable Gait Planning Method of Biped Robot Based on Ankle motion Smooth Fitting

> Research article (International Journal of Control Automation and Systems, 2018) · cited 11× · AI/ML

**Wikidata**: [openalex:W2783190614](https://www.wikidata.org/wiki/openalex:W2783190614)  
**Source**: https://4ort.xyz/entity/a-stable-gait-planning-method-of-biped-robot-based-on-ankle-motion-smooth-fitting