Geckos can quickly adhere to and detach from the wall through the unique valgus mechanism of the soles of its feet. In this paper， by studying the bionics of the valgus desorption process of gecko’s feet， the mechanism of gecko’s valgus detachment is simulated， the shape memory alloy wire is used as the driver to design gecko’s flexible feet， and the mechanical analysis and calculation are carried out. Based on the driving characteristics of shape memory alloys and the gait of gecko robots， a control strategy for imitating gecko flexible feet is designed. Finally， the force of the toes with or without valgus detachment is analyzed， the bending performance and valgus detachment performance of flexible toes are tested， and the effectiveness and feasibility of the design of the gecko-like flexible feet are verified.