Abstract: This paper gives the realization conditions of the practical follow-the-leader gait for six-leggedwalking vehicle in engineering and the motion stability analysis of this gait with energy stability method.Amethod to solve the fastest velocity of the gait, and the ditch-crossing capability analysis of the gait are discussed. An experiment to simulate the situations of the gait is given, such as walking on a plane, ditch-crossing and slope walking.