Abstract: The present disclosure belongs to the technical field of walking mechanisms, and provides a smooth obstacle-crossing walking mechanism, which can provide strong smooth obstacle crossing capability, meanwhile, maintains lower friction loss and higher efficiency, and is suitable for most daily use situations. A smooth obstacle-crossing walking mechanism includes a driving wheel and a contact wheel. The driving wheel has a wheel diameter lower than that of the contact wheel. The driving wheel compresses an inner edge of the contact wheel under gravity. The contact wheel is in contact with the ground surface. When the driving wheel rotates actively, it walks along the inner edge of the contact wheel under the frictional force with the contact wheel. The contact wheel rolls forwards under a pressure and the frictional force of the driving wheel, so as to enable the smooth obstacle-crossing walking mechanism to walk.