# Gait Regulation of a Bionic Quadruped Robot with Antiparallelogram Leg Based on CPG Oscillator

> Research article (Complexity, 2019) · cited 12× · AI/ML

**Wikidata**: [openalex:W2990950795](https://www.wikidata.org/wiki/openalex:W2990950795)  
**Source**: https://4ort.xyz/entity/gait-regulation-of-a-bionic-quadruped-robot-with-antiparallelogram-leg-based-on-cpg-oscillator