在不平的路面上步行运动大大优于轮子的滚动 ,然而目前仿生步行机构相当复杂 ,不适于实际应用。本文介绍了作者提出的一种具有实用性的步行机构——转动滑杆机构 ,并对使用这种机构的步行车辆的受力情况进行了基本分析。步行运动是个很复杂的过程 ,从形态、结构、功能、控制诸方面全面模仿是相当困难的。转动滑杆机构利用了轮子与常用发动机的良好适应性 ,而且能实现模仿步行运动的基本要求。它能产生比一般步行机器人快得多的步行运动 ,可以很方便地安装在现有的轮式车辆上。我们把用于步行机械上的转动滑杆机构命名为“步行桨轮”,它在陆地上可进行步行行走运动 ;在水中还能像船桨一样地划水 ,因此可用于制造水陆两栖步行车辆 Walk on an uneven road is much better than the wheel rolling, but the current bionic walk mechanism is quite complex, not suitable for practical application. In this paper, we introduce a practical walking mechanism - rotating slide bar mechanism proposed by the author, and analyze the stress situation of walking vehicles using this mechanism. Walking movement is a complicated process. It is very difficult to imitate all aspects of form, structure, function and control. The rotating slide mechanism takes advantage of the good adaptability of wheels to conventional engines and enables the basic requirements of imitating walking movements. It produces much faster walking movements than conventional walking robots and can be easily installed on existing wheeled vehicles. We name the rotating slide mechanism for walking machinery “walking paddle wheel”, which can be walked on land and walk in the water like a paddle and therefore can be used to make amphibious walking vehicles