This paper deals with the conceptual design of a bio-inspired reconfigurable robot, capable of transforming its gait from an erect to the sprawling configuration, depending on the terrain to move with maximum stability. Taking inspiration from biological systems, various studies were carried out on numerous link and joint arrangements in order to arrive at this leg design that can facilitate gait transformation. Based on gait analysis and assuming robots kinematic parameters such as velocity, stroke length, body length & width, support polygon was built. The trajectory planning of foot in swing phase was carried out, to minimize the impact force on touchdown. Angular velocity profile of each joint was obtained by inverse kinematics. These angular velocity profiles were fed into a dynamic simulator to carry out multi-body dynamics of the complete robot, for estimating the required torque and force on each joint. Using obtained torque and force values, the dimensions of leg components were refined using finite element analysis. Torque requirement for sprawl and upright motion are compared to finalize the actuators. The potential fields of application of this robot include: search and rescue, surveillance and other military operations. © 2017 Association for Computing Machinery.