Abstract: In order to achieve the training of drivers of hexapod robots, key techniques of driving simulator for hexapod robots are studied, and then a real-time driving simulator for hexapod robots is developed. The system is established under Eurosim, a real-time simulation frame for complex systems, to guarantee the real-time interaction between the hardware and software modules. The hardware and software of the system are designed, a simulation model is developed based on a manned hexapod robot, and thus the driving simulation of hexapod robot is implemented. The experimental results indicate that the system can respond to the driver's command rightly and in real-time, and the motion of the robot is simulated veritably.