# Gait and Trajectory Optimization by Self-Learning for Quadrupedal Robots with an Active Back Joint

> Research article (Journal of Robotics, 2020) · cited 13× · AI/ML

**Wikidata**: [openalex:W3035639458](https://www.wikidata.org/wiki/openalex:W3035639458)  
**Source**: https://4ort.xyz/entity/gait-and-trajectory-optimization-by-self-learning-for-quadrupedal-robots-with-an-active-back-joint