Here is a 3D printed soft four legged robot that can walk on rough terrain, including sand and pebbles. It can also climb over obstacles. The robot is made of soft and rigid materials. The X shape layout of the legs enable the robot to adapt to different surfaces.
Researchers successfully tested the tethered robot on large rocks, inclined surfaces and sand. The robot also was able to transition from walking to crawling into an increasingly confined space, much like a cat wiggling into a crawl space.
Such a robot can be used to capture readings in challenging environments.