In order to address the detachment problem caused by low gravity on small celestial bodies，a locomotion and adhesion control scheme for a hexapod rover in low gravitational environment is studied.First，a foot-ground contact dynamics model is established，and the mechanical constraints of the hexapod rover to achieve adhesion without detachment and locomotion without slipping under low gravitational conditions are analyzed.Second，according to the mechanism characteristics and movement form of the hexapod rover，a smooth gait planning method based on a triangular curve is designed to suppress the impacts of the rover’s feet during locomotion.Third，a multi-legged cooperative adhesion method based on the terminal gait offset is established to ensure the stable adhesion of the rover to a small celestial body.Finally，through a simulation case，the effectiveness of the control scheme is verified，providing a new idea for the mobile detection task of a hexapod robot under low gravitational conditions.