# Goal-Directed CPG-Based Control for Tensegrity Spines with Many Degrees of Freedom Traversing Irregular Terrain

> Research article (Soft Robotics, 2015) · cited 58× · AI/ML

**Wikidata**: [openalex:W2270090518](https://www.wikidata.org/wiki/openalex:W2270090518)  
**Source**: https://4ort.xyz/entity/goal-directed-cpg-based-control-for-tensegrity-spines-with-many-degrees-of-freedom-traversing-irregular-terrain