Under CopyrightSchmucker, U.U.SchmuckerSchneider, A.A.SchneiderIhme, T.T.Ihme2022-03-0904.10.19991996https://publica.fraunhofer.de/handle/publica/32630310.24406/publica-fhg-326303New results on the development of an adaptive six-legged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about force foot reactions and the information about the main force vector acting on the robot's body. Inserting and drilling operations based on the force control are considered.enaccomodation controlactive complianceforce distributionforce sensingwalking robot670conference paper