The paper reviews and presents the classification of small unmanned vehicles. One of the most promising unmanned vehicles are walking vehicles. The main focus is on walking small unmanned vehicles (WSUV) with six limbs, or hexapods. Hexapods are more stable and can perform tasks in hard-to-reach places, enclosed spaces, ventilation ducts, mines, etc. The following results were obtained: a review of scientific works was conducted, and a list of main directions and tasks was formulated. Various body forms are described, and general recommendations for choosing materials for manufacturing are provided. A power system is developed, which is conditionally divided into a low-current circuit that controls the power supply of the microcontroller, sensors, and additional electronic modules, and a high-current circuit that controls the power supply of the servomotors. In case of emergencies when the high-current circuit stops working, the power supply of the entire system can be provided by the low-current circuit to return hexapod to the initial position or to an easily accessible location. Movement algorithms for straight-line movement and turns were formulated. Among the main types of gaits, tripedal and bipedal gaits are selected. For straight-line movement on a smooth surface, regardless of the number of algorithm iterations, the bipedal gait proved to be faster, as confirmed experimentally on a prototype model. For turns, the tripedal gait was faster. In this way, recommendations were formed and block diagrams of the adaptive gait control algorithm were shown, it is recommended to use the bipedal gait for greater speed during straight-line movement and to automatically switch to the tripedal gait for maneuvers and turns. The possibility of performing vertical ascent using dry friction forces without a fundamental change in the design is demonstrated. An algorithm for resuming gait after an unexpected interruption is proposed, which involves recording iterations in non-volatile memory and using them as initial values to continue movement from a certain iteration of the gait algorithm, rather than from the beginning. Additionally, information from sensors can be recorded in non-volatile memory, which can be used later to build a map of the area or for further processing to form a trajectory of walking small unmanned vehicles movement.