Before revision:  However,  existing works on path planning used traditional search-based or sample-based methods which did not consider the kinodynamic characteristics of quadruped robots . And paths generated by these methods contain kinodynamically infeasible parts, which are difficult to track.
After revision:  However, existing works on path planning used traditional search-based or sample-based methods which did not consider the kinodynamic characteristics of quadruped robots , generating kinodynamically infeasible parts, which are difficult to track.