The hexapod robot has multiple degrees of freedom in the control flexibility． However，it has gaitplanning strategy formulation difficulties． In this paper，we propose an obstacle self- identify planning strategy． Thestrategy is based on the forward and inverse kinematics solver，and it builds the D- H coordinate system，and makeseach leg in homogeneous transformation． The rotation and crossing obstacles gait planning are made by the foot endforce feedback to automatically identify the barriers． Through the analysis of ADAMS simulation results，the cor-rectness and universality of the obstacle self- identify rotation gait planning strategy is verified．