Under CopyrightIhme, T.T.IhmeSchneider, A.A.SchneiderSchmucker, U.U.Schmucker2022-03-0904.10.19991998https://publica.fraunhofer.de/handle/publica/33122410.24406/publica-fhg-331224This paper presents the control system of a six-legged vehicle including force control. Considered control schemes are control of forces and control of body motion. The experimental result with a six-legged robot is presented.en670conference paper