To improve the rising-falling character and the walking stability of the hexapod robot, on the basis of its kinematics analysis, thin paper presents its fact trajectory planning on the flat ground without obstacles.

• 摘要在对六足步行机运动学分析的基础上，为了改善步行机的起落特性及步行稳定性，进行了平地无障碍足端轨迹规划。