This paper for describes the structure and control of a new kind of miniaturc hexapod bio-robot, analyzes the moving principles for robot. The robot is based on the principles of bionics, its structure is simple, design novel and unique. It can move forwards and backwards. The external dimensions of bio-robot is: length 30 millimeter, width 40 millimeter, height 20 millimeter, weight 6.3 gram. Some tests about the model robot are made, the experimental results show that the robot has good mobility.