# Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers

> Research article (CaltechAUTHORS (California Institute of Technology), 2019) · cited 10× · AI/ML

**Wikidata**: [openalex:W4244184063](https://www.wikidata.org/wiki/openalex:W4244184063)  
**Source**: https://4ort.xyz/entity/dynamically-stable-3d-quadrupedal-walking-with-multi-domain-hybrid-system-models-and-virtual-constraint-controllers