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在仿生研究基础上，阐述步行机躯体灵活度的概念及其计算方法；讨论份蟹步行机构模型的腿节相对长度、关节布置及腿在躯体上的安装方式等机构学参数对灵活度的影响。
On the basis of bionics research, the concept and calculation method of body flexibility of walking machine are expounded; the influence of mechanism parameters such as the relative length of the knuckles, the joint arrangement and the way of the legs on the body on the flexibilities of the crab walking mechanism model are discussed .