Walking device and control system and method for walking device

The invention provides a walking device which comprises a frame assembly, and a plurality of sets of walking wheel mechanisms are installed below the frame assembly. Wherein each group of walking wheel mechanism at least comprises a steering wheel assembly and an auxiliary wheel assembly, the steering wheel assembly comprises a steering wheel, and the auxiliary wheel assembly comprises an auxiliary wheel; wherein the steering wheel is configured to do reciprocating motion in the vertical direction, and the steering wheel is configured to do steering motion; the auxiliary wheel is configured to reciprocate in a vertical direction. The robot is high in environmental adaptability, flexible to move and capable of crossing gullies and steps (obstacles) and keeping a stable posture. 本发明提供一种行走装置，包括框架组件，在所述框架组件下方安装多组行走轮机构；其中，每一组行走轮机构至少包含舵轮组件和辅助轮组件，舵轮组件包括舵轮，辅助轮组件包括辅助轮；其中，舵轮被配置为：沿竖直方向往复运动，并且舵轮被配置为：转向运动；辅助轮被配置为：沿竖直方向往复运动。本发明环境适应性强，移动灵活，能够跨越沟壑及台阶(障碍物)并中保持平稳姿态。