  Biped robots have plenty of benefits over wheeled, quadruped, or hexapod
robots due to their ability to behave like human beings in tough and non-flat
environments. Deformable terrain is another challenge for biped robots as it
has to deal with sinkage and maintain stability without falling. In this study,
we are proposing a Deep Deterministic Policy Gradient (DDPG) approach for
motion control of a flat-foot biped robot walking on deformable terrain. We
have considered a 7-link biped robot for our proposed approach. For soft soil
terrain modeling, we have considered triangular Mesh to describe its geometry,
where mesh parameters determine the softness of soil. All simulations have been
performed on PyChrono, which can handle soft soil environments.
