In view of the increasing demand for walking robots with adaptability to complex environments in various application fields, a bionic hexapod robot was designed from the point of flexibility and stability. By planning the gait of the robot,the outstanding advantages of multi-DOF in the motion process were analyzed, and the different gaits were studied. The relationship between the torque of the rotating joint and time was analyzed. The actual motion ability of the robot was tested by referencing the data from software simulation and prototype test.The rationality of the structure and the feasibility of the motion of the bionic hexapod robot were verified. It provides a theoretical basis for the further development of the physical prototype of the bionic hexapod robot.