Deformable Terrain

Bipedial locomotion up sandy slopes: Systematic experiments using zero moment point methods
Zero Moment Point (ZMP)-based gaits for a 7-DOF bipedal robot to ascend sandy slopes up to 10°, showing that optimizing step length and center of mass height improves stability and success rates on granular terrain.
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Bipedial locomotion up sandy slopes: Systematic experiments using zero moment point methods
A Stability Region Criterion for Flat-footed Bipedal Walking on Deformable Granular Terrain
Bipedal Walking on Deformable Terrain
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A Stability Region Criterion for Flat-footed Bipedal Walking on Deformable Granular Terrain