# Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach

> Research article (CaltechAUTHORS (California Institute of Technology), 2020) · cited 34× · AI/ML

**Wikidata**: [openalex:W2971603965](https://www.wikidata.org/wiki/openalex:W2971603965)  
**Source**: https://4ort.xyz/entity/hierarchical-and-safe-motion-control-for-cooperative-locomotion-of-robotic-guide-dogs-and-humans-a-hybrid-systems-approa