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In complex terrain environment,the research of the bionic legged walking mechanism and its gait is of great significance to the development of the walking structure.The trajectory of the end of crab foot and gait timing diagram of the crab was obtained by means of analysis of walking posture of Chinese Mitten Crab(Eriocheir sinensis).A gait type legged walking structure was developed using the bionic design.The model of the legged walking structure was established by the 3D modeling software CATIA,and the kinematics analysis of the individual walking legs and the whole body were conducted by software ADAMS.After analyzing the simulation video,the foot trajectory and simulation gait sequence diagram of the bionic crab walking structure on the road surface was obtained.The results shown that it was very similar of the end foot trajectories of bionic walking structure to those of Chinese mitten crab,and similarity degree was up to 75%in the case of no account of the fourth legs of the crab.The presented bionic walking structure can be used as a test platform for soil engaging components to optimize the leg bar size or the foot end form.It will provide essential research equipment for improving the walking structure trafficability on the different sticky,soft and rough terrain.