# Autonomous gait transition and galloping over unperceived obstacles of a quadruped robot with CPG modulated by vestibular feedback

> Research article (Robotics and Autonomous Systems, 2018) · cited 49× · AI/ML

**Wikidata**: [openalex:W2898102003](https://www.wikidata.org/wiki/openalex:W2898102003)  
**Source**: https://4ort.xyz/entity/autonomous-gait-transition-and-galloping-over-unperceived-obstacles-of-a-quadruped-robot-with-cpg-modulated-by-vestibula