本文主要研究方向為六腳機械載具之研究，而分析方法全都以套裝軟體作分析，使用的軟體有Matlab、maple、pro-e、MSC.VisualNastran Desktop等四套，由於推導數學式中角速度微分方程式十分複雜，所以利用maple計算角速度的微分方程式，將方程式寫成Matlab副程式，再利用Jacobian數學式寫成Matlab副程式比較結果數據相同，又由於Jacobian數學式較為簡單，所以決定採用Jacobian數學式，Matlab主程式則為參考步態圖的時序做動與邊界值的設定，以及運動學計算，由Matlab解出的數據，此時利用pro-e畫出六腳機械載具的3D立體圖，與Matlab數據一起載入MSC.VisualNastran Desktop做出動態模擬，製作動畫，並跑出數據與Matlab數據比較之，其中只要Matlab程式有錯，動畫就會有奇怪的動作產生，所以動畫正確則證明數學式正確、程式正確。在步態研究上有三支撐三抬腳、四支撐二抬腳、五支撐一抬腳、 三支撐三抬腳、 四支撐二抬腳、 五支撐一抬腳；行進間變換步伐方面，步伐變換依次序為五支撐一抬腳、四支撐二抬腳、三支撐三抬腳、五支撐一抬腳；轉彎方面則是以三支撐三抬腳步態來轉彎，有三種形式，第一種是利用差速形成旋轉，達到轉彎目的；第二種是轉彎方式為利用腳的基座馬達，從抬腳到支撐這段時間三抬腳同時轉向欲轉彎的方向，換另外三腳抬腳時也是轉向同方向，達到轉向目的，此特色是屬於轉向平移，與前一個方法不同在於轉彎時，載具仍朝前；第三種是把前面兩種轉彎方式同時使用，產生平移與旋轉；最後利用pro-e設計製作階梯，並載入在MSC.VisualNastran環境下，直接讓六腳機械載具爬階梯與下階梯，跑出的數值可以供實作前參考。

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