Adaptive Impedance Locomotion Challenge

Design and construct a quadrupedal robotic mechanism capable of traversing a terrain of unpredictable stiffness, such as varying layers of foam and loose sand. Your system must demonstrate dynamic gait adjustment by implementing closed-loop impedance control to maintain a stable center of mass without utilizing pre-programmed pathing. The final evaluation will measure the deviation of the center of gravity during transition across shifting mechanical impedance zones.