Double-leg and double-wheel composite motion robot

A double-leg and double-wheel composite motion robot comprises a trunk part, two mechanical legs and two mechanical arms, wherein the trunk part comprises a trunk and a crotch, the trunk and the crotch are connected through a rotary joint, and a trunk-crotch hydraulic cylinder is connected between the trunk and the crotch; the two mechanical legs are arranged on the two sides of the crotch, each mechanical leg is connected with the crotch through a rotary joint, and a driving wheel is installed at the bottom end of each mechanical leg; and the two mechanical arms are arranged on the two sidesof the trunk and connected with the trunk through rotary joints. The robot has the vertical walking and jumping capacity of a biped robot and the high moving speed of a wheeled robot. Meanwhile, the mechanical arms can achieve the functions of grabbing, carrying and the like; when the robot walks on a flat road surface, the robot can be driven by the driving wheels to move, the advancing speed isincreased, and the energy