Because the foot can lift off ground, the foot robot has a strong ability to overcome obstacles and can adapt to complex road surface, it has a good application prospect. However, due to the limitations of control technology, balance and stability, foot robots are still in the laboratory research stage.A six-legged walking robot was developed. Its body was a 20bar mechanism based on Chebyshev principle, which connected by active nodes.Under the motor drive and circuit control,the robot could actually move forward, back, climb, overcome obstacles, avoid obstacles, turn and other intelligent functions.The prototype was produced and it was verified by experiment. The results show that the six-legged robot has strong stability, fast walking performance and it can walk on rugged road surface. It has low cost and a good market prospect