# Fast and flexible multilegged locomotion using learned centroidal dynamics

> Research article (ACM Transactions on Graphics, 2020) · cited 47× · AI/ML

**Wikidata**: [openalex:W3093481944](https://www.wikidata.org/wiki/openalex:W3093481944)  
**Source**: https://4ort.xyz/entity/fast-and-flexible-multilegged-locomotion-using-learned-centroidal-dynamics