I don&#x27;t think traditional ZMP would enable the stuff this robot does in the snow. More likely some sort of evolved controller, like in this paper: <a href="https:&#x2F;&#x2F;vimeo.com&#x2F;79098420" rel="nofollow">https:&#x2F;&#x2F;vimeo.com&#x2F;79098420</a>