This paper described the structure and control of a new kind of miniature hexapod bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can move forwards and backwards. The extal dimensions of bio-robot is: length 30 mm,width 40 mm, height 20 mm, weight 6.3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.