Flying-climbing-arm robot capable of achieving cross-domain operation and control method of flying-climbing-arm robot

The invention discloses a flying-climbing-arm robot capable of achieving cross-domain operation and a control method of the flying-climbing-arm robot. The robot comprises four machine arms and a machine body. Each machine arm comprises a leg and foot module (2) and a deformable folding arm module (3); the leg and foot module (2) comprises a large arm and a middle arm, and the deformable folding arm module (3) is a small arm; wherein the first end of the big arm is connected with the fuselage through a big arm steering engine (101); the second end of the large arm is connected with the first end of the middle arm through a middle arm steering engine (201); the middle arm is provided with a hollow part, and the second end of the middle arm is attached to a rubber foot end foot pad (202) and is connected with the first end of the small arm through a free hinge shaft; a magnetic attraction device (302) is attached to the second end of the small arm; when the small arm contracts, the small arm is tightly attached