The kinematics of the movement for a mobile six-legged robot, inspired by the living world, as well as the command and control system, which allow the robot to move on different surfaces with different speeds. In order to generate the movement, through a control and control system, stepper motors and bars are used. A frame, connecting rod, crank and a lever constitute to obtain the required movement. In this project the application of a simple mechanism of four bars is used. The most important benefit of this mechanism is that it does not require microprocessor, controller and other drive mechanisms. Armed forces, law enforcement, explosive ordnance units and private security companies could also benefit from the applications of this mechanism. It would work very well as a platform with the ability to handle ladders and other obstacles better than wheeled vehicles or tracking.