Abstract: Based on observing and analysing crabs and establishing its bionics model,taking "Specific Resistance" as the evaluating index,and applying the theory of the optimum energy distribution of over-eterminate inputs of the six-legged walking robot,the effect of structural parameters and its walking mode on the briskness performance energy efficiency of the crabs imitation model.The specific resistance of the american ASV walking vehicle is computed applying the analytical method in this paper.