Position-posture control system of six-legged walking robot has the characteristics: tight coupling, redundancy, nonlinearity. An inverse velocity kinematics model of six legged walking robot was constructed through research on inverse velocity kinematics of single leg. Then the control on position and posture of six-legged walking robot was decoupled to two closed-loops control, the position and the posture closed-loop control, based on the inverse velocity kinematics. The proportional control strategy was employed to implement the closed-loop control on the position posture of six-legged walking robot. Finally, a co-simulation on the closed-loop control on the position-posture of six-legged walking robot was carried out by using MATLAB and ADAMS, and the results verify that the method of closed-loop control on the position-posture of six-legged walking robot is correct.