Abstract: Walking of a quadruped walking vehicle along a tortuous road is a problem which has not yet been researched, but it is very important to the developing of a practical walking vehicle. According to the surface condition of the earth, we first design a gait which can make the walking vehicle maintain a certain stability. Afterwards, we check the gait with the realizable condition. A collection of the stride length and turning angle of each stable and realizable gait can be found according to the known structure parameters of a quadruped walking vehicle. If the stride length and turning angle are selected within the collection to plan a corner turning gait, it is certain that the gait can make the vehicle walk with a certain stability.

Key words: 步态, 步行机, 转弯