# CPG-Based Hierarchical Locomotion Control for Modular Quadrupedal Robots Using Deep Reinforcement Learning

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 33× · AI/ML

**Wikidata**: [openalex:W3177184855](https://www.wikidata.org/wiki/openalex:W3177184855)  
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