This paper discusses the construction of the basic motion regulating system of an articulated body mobile robot “Koryu” or KR consisting of plural cylindrical units linked in series. The algorithm to maintain vertical posuture of the joints, while the KR is on uneven terrain with arbitrary posture is firstly shown. Combination control of force and position is next introduced in order to execute simultaneous posture control and terrain adaptive control of all the joints. As to the combination control, hybrid type control and impedance type control are proposed. Previously test-assembled “Koryu-I” is further mounted with a force sensor of optical system and a posture sensor. The characteristics of the derived posture, force and their combination controls are demonstrated by the test robot to confirm the effectiveness of the controls.