Force control in locomotion of legged vehicle over rigid and soft surfaces

The authors present experimental results in control of foot-force distribution during locomotion of a six-legged vehicle. The major part of the paper considers control of vertical load distribution. In locomotion over soft soils control of leg loads is closely connected with control of foot sinkages. The authors develop and experimentally test algorithms for load and sinkage control in locomotion over rigid and elastically deformable surfaces and over a surface with irreversible deformation.<>