This paper presents a dynamic model of a six-legged robot. The direct and inverse kinematic analyses for each leg are considered in order to develop an overall kinematic model of the robot. Feet forces distributions of the hexapod are calculated in order to solve for the dynamic model of the hexapod. Lagrange-Euler formulation is then used to determine the joint torques required for each leg of the hexapod. However, in order to have a better understanding of walking, dynamic stability, energy efficiency, and on-line control, kinematic and dynamic models based on a realistic walking robot design are necessary. Here, an attempt to carry out kinematics, dynamics and optimal feet force distributions of a realistic six-legged robot.