The transition in the middle Pleistocene (similar to 0.9 Ma) seen in d
elta(18)O deep-sea-core records from relatively low-amplitude, high-fr
equency (41 kyr) to high-amplitude, low-frequency (100 kyr) ice volume
variations under essentially the same orbital forcing can be attribut
ed to a change from an all soft-bedded to a mixed hard-soft bedded Lau
rentide ice sheet through glacial erosion of a thick regolith and resu
lting exposure of unweathered crystalline bedrock. A one-dimensional i
ce sheet and bedrock model which includes transport of sediment and ic
e by subglacial sediment deformation demonstrates that a widespread de
forming sediment layer maintains thin ice sheets before the transition
which respond linearly to the dominant (23 and 41 kyr) orbital forcin
g. Progressive removal of the sediment layer eventually causes a trans
ition to thicker ice sheets whose dominant timescale of change (100 ky
r) reflects nonlinear deglaciation processes. In model simulations ove
r the last 3 Ma initialized with no ice and a uniform 50 m sediment la
yer the time series of ice volume and extent agree in several importan
t aspects with the observed records.