This paper presents a walking control system for biped robots on loose soil. The proposed method realizes long time continuous walking and stable stopping on sand. Characteristics of the proposed system is landing position (modification) control. In this control, as a balance index, amount of CoM position modification is utilized. Considering past modification history, amount of current landing position modification is decided. In oder to evaluate the proposed control system, the small humanoid robot performed walking, stepping and turning on sand.
