The coordination of legs movement is an important capability in any multi-legged robots motion. The required timing forlegs coordinations depends on the number of legs and servos, as well as the complexity of the chosen algorithm. This paper proposed the use of tripod-gait movement algorithm for a hexapod which is defined by simple geometrical and inverse kinematics approach. The hexapod has 3 servos in each leg or 18 seros in total that should be able to produce saveral motions including moving forward, backward, turn left and turn right as fast as possible. Experimental results showed that the proposed method worked well for hexapod two time faster than the ordinary inverse kinematics method