【正文】 alternative process. According to β coefficient of the size of space can be divided into three situations: (1) β = 0. 5, the three legs of the swing at the same time, another three support legs lifted immediately, or any time at the same time, or only support of the swing phase ( Figure 2 (a))。 Line OA 39。 caused by. (2) Part of the processing error in particular, the link caused by the processing error. Linkage of the processing error caused when the foot robot trajectory inconsistencies, thus leading to the road route deviation. s movement will be a halfups and downs, if he would be able to footpath in contravention to maintain the formation of the robot can maintain the smooth progress. Besides walking robot requires a strong ability to adapt to the environment, it must be able to print and stability on the steps to walk, and can leap obstacles, Wang ditch, the road to face different trajectory curves have different requirements: the road to the plains require a certain The speed, height requirements and can be lifted over the barrier requirements across the smooth, fulltrajectory that the choice of the walking robot, it is very important. Foottrajectory chosen to be the main consideration of the following questions [3]: (a) of the high aspect ratio: the ratio of height to width of a direct response to movement of the curve. The greater the ratio of the full trajectory of the higher end, the corresponding level beyond the capacity of the stronger forward at the same time (velocity) on the worse. (b) of length: the width of certain circumstances, the longer the length of curves in the air campaign more time, this will directly affect the speed of the swinging leg, thus affecting the speed of walking. The shorter length curve, the shorter the time to campaign, but the corresponding ability to leap worse. According to walk the walkdemand, initially set footmovement of the ratio of height to width and length curve, and then use the link on the prior series of patterns [5] (as shown in Figure 3), to find out from the map and requirements Similar to the trajectory of the curve, and then direct the four bodies found in various size parameters. In this paper, biorobot designed by the step to 3 mm, the selected used as a robotfoot trajectory of the curve (see figure) (c) the flat part (that is, at the foot robot movement to end conflict with the part of) the length of about 3 mm, this plane can be identified in all four linkage bar for the length: Crank A = 1mm, link B = 3 mm, Rocker C = 3. 5 mm, fixedD = 3. 5 mm. (3) β 0. 5, when the robot move faster, have six legs at the same time as the swing of the moment, that is, six legs in the air at the same time, in a vacant state (see Figure 2 (c)), obviously This process requires the turn of robot bodies with flexibility and absorber function, otherwise difficult to achieve. The research paper by 6 foot robot gait is β = 0. 5 when the state.謹以次表達深深的謝意！ 1 introductionSince the invention of the wheel and human made after the car, brought to life is a great advantage. From ancient wooden wheel cart has been developed to the current all kinds of vehicles, the wheels have adopted technology. Wheels for the survival of humankind and conquering nature made a significant contribution. As human activities in space for their own development the expansion of the universe, the development of the oceans, in the absence of roads to the natural environment with wheels There are many difficulties in walking, sometimes even simply can not be moved, so the design and creation of the natural environment with a high degree of adaptability Walking on foot and the gait of research institutions bee increasingly important. From 1899 Muybridge used for photographic method of animals walking, people walking on the gait for a lot of research work, especially in the last two to three decades, on the gait of the important results are emerging [122]. In the late 1960s, because of the need for the development of walking robot, McGhee summed up in the previous gait of the animal on the basis of research results, systematically presented on the gait of a series of gait analysis and description of the strict definition of mathematics [3], to lay the gait of a more plete analysis of the mathematical basis. Gait is a walking robot to move, the leg walking robot is coordinated operation of law, namely, the legs and legroom Taitui order, it is the walk on a very important parameter is to ensure that agencies walk And stable operation of the very important factors. Based on the principle of bionics, the paper plane parallel use of six fourbar linkage, microDC motor and the corresponding slowdown twisting bodies has been developed by small size, has good mobility, flexibility and strong ability to adapt to the environment of microsix foot Biorobot. The robot long as 30 mm, width of 40 mm, high for 20 mm, weighing about 6. 3g. This footmobile microrobot equipped with sensors and the corresponding plant, can be used for industrial and agricultural production in many areas (such as the nuclear industry in detecting cracks in pipelines, industrial and agricultural equipment detection and repair, etc.). 2 microsix foot biorobot movement principles of the triangle gait gait of the robot is six foot two legs (one side of the body before the foot after foot and in the other side of the foot), in support of the three legs of the triangle on the action exactly the same, both in the swing or are in a phase Support phase. Six Foot program, insects (roaches, ants, etc.) in the flat on the ground quickly and unhindered access of the road, more than gait to the turn of the campaign, that is, when walking in the six foot divided into two groups, to one side of the body Foot before and after foot and in the other side of the foot as a group to form a stable tripod support worms, at the same time a group of onl