Steering engine-based variable-structure quadruped and hexapod robot and advancing method thereof

The invention relates to a variable-structure quadruped and hexapod robot based on steering engines and an advancing method thereof, belongs to the technical field of robots, and solves the problems in the prior art. The leg comprises a main body structure, a front foot, a rear foot and a middle foot, the two front feet, the two rear feet and the two middle feet are symmetrically arranged on the two sides of the main body structure; the middle foot is rotationally connected with the main body structure, and a mechanical clamping jaw capable of clamping articles is mounted on the middle foot; the middle foot can serve as a walking foot or a mechanical arm. According to the robot, switching between four-foot walking and six-foot walking of the robot is achieved, switching between the middle foot serving as the walking foot and the mechanical arm function is achieved, the robot has multiple structural forms, and the walking mode switching and object clamping and transporting functions are achieved. 本发明涉及一种基于舵机的可