研制了一种基于行为模式的复合运动方式四足智能机器人，该机器人可以步行前进，原地转弯，楼梯爬越，也可以在良好路面利用足底轮滚动前进。

Integrating serpentine locomotion or other types of locomotion, the snake-like robot can complete composite locomotion that combines the serpentine locomotion or others with twist-related locomotion.

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本课题的研究较好地满足了小型地面移动机器人对控制系统的要求，在巡航、原地转弯、翻身、越障等方面都达到了“小型多功能地面移动机器人”项目的指标要求。

This paper meets the requirement of the control system of the the small-scale multi-functional ground moving robot and makes it in cruise, swerve, turning over and striding over obstacles.

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