# Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain

> Research article (Journal of Robotics, 2019) · cited 14× · AI/ML

**Wikidata**: [openalex:W2942669704](https://www.wikidata.org/wiki/openalex:W2942669704)  
**Source**: https://4ort.xyz/entity/hierarchically-planning-static-gait-for-quadruped-robot-walking-on-rough-terrain