It makes a brief description of the walking robot used in the forestry. The paper makes a deep analysis and founds a scheme on the walking mechanism of forestry walking robot, illustrates the relationship among the mechanism structure, component size, tracks and kinematic parameters of the foot. It makes an experimental prototype design which through the analysis before, embeds the scheme into the design parameters, and conducts an actual verification about the results of theoretical derivation. The results proved the feasibility of the design, and reflected the impact factors of the motion. It will lay the theoretical foundation for the walking mechanism’s design and research of the forestry walking robot, and will be in favor of the development and utilization of the forestry walking robot in the new period.