This paper analyses the force distribution of six-legged walking machine

Then making use of the results

We analyse the force imposed on the legs. The paper sets up the dynamic equations of the walking machine. And we solve the equations under all kinds of walking way. Making use of two criteria

the paper acquires the optimal stroke of walking machine. The paper also presents researchs on the optimal distribution of energy of walking machine in all kinds of gaits. Considering velocity influence on the sta-bility

this paper discusses the stability of walking machine

when legged locomotion walking and turning.