# Free Gait — An architecture for the versatile control of legged robots

> Research article (2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016) · cited 32× · AI/ML

**Wikidata**: [openalex:W2746481701](https://www.wikidata.org/wiki/openalex:W2746481701)  
**Source**: https://4ort.xyz/entity/free-gait-an-architecture-for-the-versatile-control-of-legged-robots