# Sliding-Mode Tracking Control of a Walking Quadruped Robot with a Push Recovery Algorithm Using a Nonlinear Disturbance Observer as a Virtual Force Sensor

> Research article (Iranian Journal of Science and Technology Transactions of Electrical Engineering, 2019) · cited 10× · AI/ML

**Wikidata**: [openalex:W2984879732](https://www.wikidata.org/wiki/openalex:W2984879732)  
**Source**: https://4ort.xyz/entity/sliding-mode-tracking-control-of-a-walking-quadruped-robot-with-a-push-recovery-algorithm-using-a-nonlinear-disturbance-