Abstract: The reasonable energy distribution of the spatial multi-joint six-legged walking robot is presented in this paper. Firstly, the velocities, accelerations and inertia forces of the six-legged locomotion are derived. And then, the over-determinate input is discussed emphasisly, the harmonization equation of the over-determinate inputs and optimum energy distribution equation are derived.

Key words: 步行机, 空间机构, 能量