用临界状态法研究四足步行机的转向步态，提出了研究四足步行机转向的固定临界线法和固定临界点法两种方法，介绍了四足步行机以侧行角α沿半径Ｈ的圆弧转向的步态拟定方法及其稳定性分析方法，还介绍了给定重心移动位置和转角的转向步态的拟定方法。 Using the critical state method to study the steering gait of a four-legged walking machine, two methods, fixed critical line method and fixed critical point method, are proposed to study the steering of a four-legged walking machine. , The gait preparation method and its stability analysis method are also introduced. The method for formulating steering gait given position and rotation of the center of gravity is also introduced.