Robots are widely used to replace people in some burdensome or harmful are eas.Not only the moving a bility but also the manipulating ability is needed in the missions of complex multitasking requirements.In the last decades,wheel-legged hexapod robots are extensively studied to meet this condition.Multi-legged robot can move on the discrete terrain and be Robots are widely used to replace people in some burdensome or harmful are eas. Not only the moving a bility but also the manipulating ability is needed in the missions of complex multitasking requirements.In the last decades, wheel-legged hexapod robots are extensively studied to meet this condition. Multi-legged robot can move on the discrete terrain and be