# Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

> Research article (IEEE Robotics and Automation Letters, 2019) · cited 44× · AI/ML

**Wikidata**: [openalex:W2913322202](https://www.wikidata.org/wiki/openalex:W2913322202)  
**Source**: https://4ort.xyz/entity/online-gait-transitions-and-disturbance-recovery-for-legged-robots-via-the-feasible-impulse-set