In　order　to　study　the　influence　of　different　walking　speeds　on　locomotive　information　of　healthy　human　lower　limbs　in　the　sagittal　plane,　frontal　plane　and　transversal　plane,　VICON　three　dimensional　motion　capturing　system　was　adopted　to　measure　the　movement　information　of　seven　healthy　human　pelvis,　hip,　knee　and　ankle,　when　human　was　walking　on　the　treadmill　at　1km/h,　2km/h,　3km/h.　The　pelvic,　hip,　knee　and　ankle　kinematics　and　the　relationship　of　joint　angles　of　lower　limbs　in　the　sagittal　plane,　frontal　plane　and　transversal　plane　were　analyzed.　The　results　show　that　for　three　joints　of　lower　limb,　increasing　of　the　treadmill　velocity　increases　the　maximum　angle　of　the　flexion　and　variation　range　of　joint　in　the　sagittal　plane　while　increasing　velocity　has　little　impact　on　the　shapes　of　the　curves　except　curves　of　hip　joint　in　the　transversal　plane;　regarding　pelvic　movement,　increasing　velocity　has　small　effects　on　amplitude　and　shape　of　curves　of　pelvis　motion;　with　velocity　increasing,　the　modes　of　joint　movement　kept　invariant,　knee　movement　is　stabilized　and　ankle　movement　is　complicated.　The　results　provide　kinematics　information　for　designing　and　controlling　lower　extremity　rehabilitative　robot.