对五足步行机攀登桁架运动进行了详细的分析，提出了一种实用攀登步态；在此基础上，针对不等间距桁架，建立了其攀登运动模型及相应的算法。该方法不仅可直接应用于五足步行机在不等间距桁架上的攀登运动规划，而且还可作为五足步行机攀登桁架的运动条件，对于步行机在具有不连续落足区的非结构地形下的运动研究也具有普遍指导意义。通过一组典型攀登环境对算法进行了计算机仿真和攀登实验，结果表明该理论分析和相应算法是正确可行的。 A detailed analysis on the climbing truss movement of the five-foot walking machine is presented. A practical climbing gait is proposed. On the basis of this, a climbing movement model and its corresponding algorithm are established for the unequal spacing truss. The method not only can be directly applied to the climbing motion planning of five-legged walking machine on unequal-spacing trusses, but also can be used as the climbing condition of the five-legged walking machine on the truss. For the walking machine in unstructured terrain Under the exercise study also has a general guideline. Through a set of typical climbing environments, the computer simulation and climbing experiment are carried out. The results show that the theoretical analysis and the corresponding algorithm are correct and feasible.