Wall-climbing robot skeleton structure and walking control method

The invention relates to the field of bionic robots, and particularly discloses a wall-climbing robot skeleton structure which comprises a trunk frame body composed of a first sleeve and a second sleeve, a first cylindrical cam, a second cylindrical cam, a forelimb assembly composed of a front swing arm and a front supporting part, a posterior limb assembly composed of a rear swing arm and a rear supporting part, and an ejector block assembly. The transmission assembly is composed of a transmission shaft, an auxiliary supporting part and a stretching driving part; the lifting assembly is provided with a winding device; the invention further discloses a walking control method implemented by the robot skeleton structure. By means of the split type trunk frame body, independent actions of the front limb assemblies and the rear limb assemblies can be achieved, multiple driving modes can be achieved only through one main driving device, the structure is simple, and the overall strength of the structure is large; w