# Learning Free Gait Transition for Quadruped Robots Via Phase-Guided Controller

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 73× · AI/ML

**Wikidata**: [openalex:W4206589784](https://www.wikidata.org/wiki/openalex:W4206589784)  
**Source**: https://4ort.xyz/entity/learning-free-gait-transition-for-quadruped-robots-via-phase-guided-controller