# Terrain-blind walking of planar underactuated bipeds via velocity decomposition-enhanced control

> Research article (The International Journal of Robotics Research, 2019) · cited 23× · AI/ML

**Wikidata**: [openalex:W2970075639](https://www.wikidata.org/wiki/openalex:W2970075639)  
**Source**: https://4ort.xyz/entity/terrain-blind-walking-of-planar-underactuated-bipeds-via-velocity-decomposition-enhanced-control