四足机器人在适应复杂环境方面具有巨大潜力，是近年来机器人领域的研究热点。本项目以仿生学和机器人学为基础，以Flight Trot步态为对象，从系统实际需求出发，综合已有方法，研究四足机器人Flight Trot步态切换控制方法：（1）为了更好的反映步态机理，建立了Flight Trot步态切换动力学模型；（2）在考虑关节作动器驱动能力限制的前提下，设计了机器人本体位姿稳定性判据；（3）为了提高Flight Trot步态四足机器人的环境适应性，设计了基于足端接触力控制的本体位姿切换控制方法；（4）为了使得步态切换更加平滑，设计了基于本体速度的Flight Trot步态与Trot步态之间的切换方法。本课题的研究能够有效提高四足机器人以Flight Trot步态运动过程中的稳定性，为继续研究四足机器人跳跃步态的稳定性分析和控制问题提供理论基础和技术支撑。

The quadruped robot has great potential for adapting the complex environment, has become a hot research direction in recent years. This program is based on bionics and robotics. Switching control method of the flight trotting quadruped robot has been researched, with the engineering demand and the existing methods being considered: (1) In order to descript the gait mechanism more turely, a switching dynamical model of the flight trotting quadruped robot is built. (2) Based on Lyapunov stability theory and the switching dynamical model, considering the driving capability limitation of joint driving capability, a uniform asymptotically stability criterion about body posture of the quadruped robot is proposed. (3) In order to improve the environmental adaptability of the flight trotting quadruped robot, a switching control method about body posture based on contact force control is designed. (4) In order to switch gaits more smoothly, a switching method between Flight Trot gait and Trot gait is designed based on the velocity ariation of the body. The research in this program is able to improve the stability of the flight trotting quadruped robot effectively, and offers a theoretical basis and a technological support for studying stability analysis and control problems of the other trotting quadruped robot.