This paper presents a foot force model of the quadruped walking vehicle during its truss-climbing process based on the stiffness matrix method.

The authors Discuss the purport of city building climbmer training by means of literature and contrast analysis base on the variety and need of future actual combat and mode, and summarize mode and method of scientific exercise and training by research study of partial students on class,and offer reference for a street battle; special type and army against terrorism for our army in the future.