# Hierarchical Terrain-Aware Control for Quadrupedal Locomotion by Combining Deep Reinforcement Learning and Optimal Control

> Research article (2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W4200235497](https://www.wikidata.org/wiki/openalex:W4200235497)  
**Source**: https://4ort.xyz/entity/hierarchical-terrain-aware-control-for-quadrupedal-locomotion-by-combining-deep-reinforcement-learning-and-optimal-contr