Abstract: Based on the movement mechanism of amphibians and the characteristics of underwater walking of the amphibious multi-legged robot,a dynamic model in lenitic water is produced by reducing the weight and adding liquid forces,and through the analysis of the model,the "hoof-?oating" gait is proposed for underwater walking of the amphibious multi-legged robot.The gait not only resolves the problems of slippage and instability which arise when the amphibious multi-legged robot walks in underwater conditions with the land gait,but also raises the walking speed.The underwater walking experiment results of the amphibious multi-legged robot verify the feasibility of the proposed gait.