Abstract: SolidWorks software was used to establish the three-dimensional model of the four-bar chebyshev mechanism, and the motion trajectory was fitted to determine the motion trajectory suitable for walking.On this basis, a four-legged robot model was created and imported into ADAMS to add corresponding constraints. Then, simulation and graph processing were carried out in both theoretical suspension and actual contact with the ground. Finally, the trajectory, acceleration, and kinetic energy change curves of the foot were obtained.The results of the curve analysis prove the feasibility of the four-legged robot applied to the four-bar mechanism of chebyshev.It can be seen that simulation with virtual prototype provides a good experimental method for gait planning of multi-legged robot.