 However,  existing works on path planning used traditional search-based or sample-based methods which did not consider the kinodynamic characteristics of quadruped robots .
<coherence>  However,  existing works on path planning used traditional search-based or sample-based methods which did not consider the kinodynamic characteristics of quadruped robots .
 However, most existing works on path planning used traditional search-based or sample-based methods which did not consider the kinodynamic characteristics of quadruped robots .