Soft wet grounds such as mud, sand, or forest soils, are difficult to navigate because it is hard to predict the response of the yielding ground and energy lost in deformation. In this article, we address the control of quadruped robots' static gait in deep mud. We present and compare six controller versions with increasing complexity that use a combination of a creeping gait, a foot-substrate interaction detection, a model-based center of mass positioning, and a leg speed monitoring, along with their experimental validation in a tank filled with mud, and demonstrations in natural environments. We implement and test the controllers on a Go1 quadruped robot and also compare the performance to the commercially available dynamic gait controller of Go1. While the commercially available controller was only sporadically able to traverse in 12 cm deep mud with a 0.35 water/solid matter ratio for a short time, all proposed controllers successfully traversed the test ground while using up to 4.42 times less energy. The results of this article can be used to deploy quadruped robots on soft wet grounds, so far inaccessible to legged robots.

Agriculture has gained increasing importance in response to the continuous growth of the world population and constant need for food. To avoid production losses, farmers commonly use pesticides. Mancozeb is a fungicide used in agriculture as this compound is effective in combating fungi that harm crops. However, this fungicide may also produce damage to non-target organisms present in soil and water. Therefore, this study aimed to investigate the influence of exposure to mancozeb on survival rate, locomotor activity, behavior, and oxidative status utilizing adult zebrafish (Danio rerio) as a model following exposure to environmentally relevant concentrations of this pesticide. The experimental groups were negative control, positive control, and mancozeb (0.3; 1.02; 3.47; 11.8 or 40 mu g/L). Zebrafish were exposed to the respective treatments for 96 hr. Exposure to mancozeb did not markedly alter survival rate and oxidative status of Danio rerio. At a concentration of 11.8 mu g/L, the fungicide initiated changes in locomotor pattern of the animals. The results obtained suggest that the presence of mancozeb in the environment might produce locomotor alterations in adult zebrafish, which subsequently disrupt the animals' innate defense mechanisms. In nature, this effect attributed to mancozeb on non-target organisms might result in adverse population impacts and ecological imbalance.