Abstract: According to the irregularities and complexities of farmland, the terrain adaptive locomotion theory of all terrain adaptive locomotion vehicle (ATALV) was proposed and the key terrain adaptive parameters was analyzed and calculated, which was also verified by the computer simulation of terrain adaptive locomotion and kinematic analysis on specific terrain. The key parameters were designed and the small scale vehicle was manufactured. The experiments of terrain adaptive locomotion process and utmost terrain adaptive locomotion were conducted in order to verify the terrain adaptive locomotion theoretical basis, and some tests of general operating performance proved ATALV's stability and reliability. All the theoretical analyses and experiments show that ATALV can be used in mountain, hill, slope, grassland and rough farmland, etc. The research can provide theoretical and experimental references for ATALV applied in practice.