A　new　design　scheme　of　crab-like　hexapod　origami　robot　was　proposed　by　combining　the　origami　structure　with　the　multi-legged　robot　design　and　coupling　Miura　origami　and　six-fold　origami　aiming　at　the　problems　that　the　existing　origami　robots　have　a　single　structure　and　insufficient　flexibility　in　movement.　The　motion　configuration　of　the　origami　robot　was　expanded,　and　the　motion　flexibility　of　the　origami　robot　was　improved.　Each　leg　of　the　robot　has　two　degrees　of　freedom　under　the　symmetry　hypothesis.　The　vertices　of　the　robot　legs　were　treated　as　joints,　and　the　crease　lines　were　regarded　as　links.　A　planar　link　equivalent　model　of　the　robot　legs　was　established　with　the　folding　angle　as　the　motion　variable.　The　theoretical　range　of　motion　for　the　robot’s　foot　was　determined　through　simulation　calculations.　Then　tapered　panel　technique　was　utilized　to　thicken　the　folding　surfaces　and　prevent　physical　interference　between　adjacent　folding　surfaces.　A　three-dimensional　model　of　the　origami　crab-like　hexapod　robot　was　constructed.　The　relationship　between　the　folding　angle　and　foot　motion　was　analyzed　based　on　the　equivalent　model　of　planar　links,　and　the　foot　motion　trajectory　and　gait　of　the　robot　were　designed.　The　experimental　prototype　of　origami　bionic　hexapod　robot　was　designed　and　manufactured　by　using　3D　printing　technology,　and　the　lateral　movement　of　the　robot　was　realized　based　on　STM32　microcontroller　control.　Results　show　that　the　origami　bio-inspired　robot　can　realize　the　conversion　from　plane　configuration　to　a　crab-like　configuration.　The　robot　can　move　smoothly　left　and　right　under　the　coordinated　movement　of　six　legs.　©　2024　Zhejiang　University.　All　rights　reserved.