The change situations of roll,pitch and yaw of the hexapod robot were analyzed to verify the correctness of gait planning.The kinematics analysis of the designed hexapod robot was carried out,and the for ward and inverse solutions of the robot kinematics were calculated.The time sequence diagram of the hexapod robot motion was analyzed.The foot end trajectory of the robot was planned by using the quintic polynomial.The motion simulation of the robot was carried out in ADAMS,and the RPY angle during the motion was obtained.Finally,a hexapod robot prototype was made to test the RPY angle in the running process.The simulation and the prototype test results show that the RPY angle has a maximum error of not more than 1° in the forward direction during the gait movement of the robot.The correctness of kinematics calculation and gait planning is verified.