On the basis of analyzing the structural characteristics and motion function of galley worm, a research on structural design and prototype manufacture of hexapod bionic robot was completed. The control model of CPG (Central Pattern Generator) for hexapod bionic robot was designed based on the joint programming of ADAMS and MATLAB. The control data of linear motion gait for hexapod robot was obtained based on the simulation analysis by ADAMS. The experiment results show that the hexapod bionic robot moves stably, satisfying the requirements of design.