Abstract: This paper studies the steering gait of a 4-legged walking vehicle, developes two methods to analyze steering of the vehicle, e. g, the method of fixed critical line and the method of fixed critical point, introduces methods to determine gait and analyze stability when the vehicle steeres under a lateral angle along a circle of radius H, also introduces a method to decide steering gait when the displacement of the center of gravety and turn angle.

Key words: Gait, Steering, Walking vehicle