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实现自位功能是改良非结构环境下步行机器人运动性能和提高其自主行走能力的共性问题．本文从多肢体化的角度对步行机器人的自位问题进行了探讨，阐述了具有自位能力的步行机器人的最少机身杆件数和机身杆件间的合理自由度配置方案，分析了机身杆件与腿机构协同工作时的自位行为过程，提出了一种具有自位机能的三肢体六足步行机器人模型．
Achieving self-function is a common problem to improve the performance of walking robots and improve their autonomous walking ability in unstructured environment. This article discusses the self-positioning of pedestrian robots from the perspective of multi-body, expounds the configuration scheme of the minimum number of body bars and the reasonable degrees of freedom between the body bars of pedestrian robots with self-positioning ability, A self-possessed robot with three-limbs and six-legged walking robot with self-positioning is proposed.