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本文给出了工程中实用的六足步行机器人跟导步态的实现条件，用能量法分析了这种步态的运动稳定性，给出了采用这种步态的六足步行机的最大运动速度求解方法，分析了这种步态的越沟能力，并在ＳＧＩ工作站上对该步态的平地行走、跨沟及斜坡行走情形进行了仿真实验．
In this paper, the practical conditions for the implementation of six-legged walking robot with guided gait are given. The kinematic stability of the gait is analyzed by energy method. The maximum movement of the six-legged walking machine with this gait is given. Speed solution method. The ability of this gait is analyzed. The SGI workstation is used to simulate the walking of the gait, the ditch cross and the slope.