In this thesis, force control for a multi-legged walking robot is investigated. For stable but relatively rapid walking, a simple force control algorithm is proposed in conjunction with the position control system. The proposed control method is tested on an experimental one leg system of two degree of freedom with a force controller using a position controller and a MVME-110 monoboard microcomputer to implement the proposed control algorithm. Also, a low noise force sensing resister is used for detecting the ground reaction force. The experimental results shows that the control algorithm can be applied for walking in a terrain with wide range variation.
