Grouser structural characteristics critically determine deep–sea mining vehicle traction on soft seabed sediments, while biomimetic grousers have gained prominence for superior traction, their enhancement mechanisms remain unclear and reliable traction calculation methods are absent. This paper proposes a novel biomimetic grouser inspired by the excavating legs of mole crickets and systematically investigates the influence patterns of grouser geometric parameters, dynamic parameters and soil physical properties on its traction characteristics. First the experimental setup involves designing and constructing a traction measurement system to test the traction force F of 5 biomimetic grousers with distinct inclination angles α. These tests are conducted under 4 mass fraction of water w in simulated seabed sediments, with bidirectional shearing motions at 6 velocities v, comparative analysis is performed against conventional flat–plate grousers. Results indicate that the traction F initially increases then decreases with rising α. During shearing motion with convex surface forward, F reaches its maximum at α=75° ; when the concave surface leads the shearing motion, peak F occurs at α=120° . This phenomenon occurs because the weight w of the sliding wedge–shaped soil mass mobilized during grouser initiation first increases then decreases with increasing α, resulting in corresponding initial rise followed by decline in the resultant passive earth pressure force F_Px within F. By contrast the biomimetic grouser demonstrates traction enhancement of up to 45.1% compared to conventional flat–plate designs. Furthermore, an analytical solution for calculating the maximum traction force F_max has been established based on limit equilibrium theory, with maximum calculation error experimentally validated to be within 30%. This study establishes the theoretical basis for revealing biomimetic grouser traction–enhancement mechanisms and developing high–traction structures.