# Robust Phase-Space Planning for Agile Legged Locomotion over Various Terrain Topologies

> Research article (Robotics: Science and Systems XII, 2016) · cited 10× · AI/ML

**Wikidata**: [openalex:W2410490794](https://www.wikidata.org/wiki/openalex:W2410490794)  
**Source**: https://4ort.xyz/entity/robust-phase-space-planning-for-agile-legged-locomotion-over-various-terrain-topologies