# Online whole-stage gait planning method for biped robots based on improved Variable Spring-Loaded Inverted Pendulum with Finite-sized Foot (VSLIP-FF) model

> Research article (ISA Transactions, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4307114515](https://www.wikidata.org/wiki/openalex:W4307114515)  
**Source**: https://4ort.xyz/entity/online-whole-stage-gait-planning-method-for-biped-robots-based-on-improved-variable-spring-loaded-inverted-pendulum-with