# Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation

> Research article (Bioinspiration & Biomimetics, 2021) · cited 26× · AI/ML

**Wikidata**: [openalex:W3178129848](https://www.wikidata.org/wiki/openalex:W3178129848)  
**Source**: https://4ort.xyz/entity/efficient-bipedal-locomotion-on-rough-terrain-via-compliant-ankle-actuation-with-energy-regulation