# Towards dynamic alternating tripod trotting of a pony-sized hexapod robot for disaster rescuing based on multi-modal impedance control

> Research article (Robotica, 2018) · cited 33× · AI/ML

**Wikidata**: [openalex:W2794897234](https://www.wikidata.org/wiki/openalex:W2794897234)  
**Source**: https://4ort.xyz/entity/towards-dynamic-alternating-tripod-trotting-of-a-pony-sized-hexapod-robot-for-disaster-rescuing-based-on-multi-modal-imp