# Symmetry in legged locomotion: a new method for designing stable periodic gaits

> Research article (Autonomous Robots, 2016) · cited 36× · AI/ML

**Wikidata**: [openalex:W2496648954](https://www.wikidata.org/wiki/openalex:W2496648954)  
**Source**: https://4ort.xyz/entity/symmetry-in-legged-locomotion-a-new-method-for-designing-stable-periodic-gaits