中文摘要：

为了拓展多足步行机器人的应用，开发了具有手脚融合功能的模块化多足步行机器人．该机器人至少1支腿既可以行走又可以抓取物体，具有手脚融合功能．抓取物体时，利用3条腿支撑身体，具有手脚融合功能的腿作为能抓取物体的机械手，行走时该腿就执行脚的功能．机器人由机体模块、行走腿结构模块、手脚融合腿部结构模块、控制模块等组成．各模块之间方便联结与扩展．在物理样机上进行了相关试验，结果表明该机器人能够行走和抓取特定目标物，实现了手脚融合功能．

英文摘要：

In order to expand the application of the robot, the modular multi-legged walking robots with integrated functions of hands and feet were described. It can walk and crawl both objects using at least 1 leg with a foot fusion. When grab objects, 3 legs were used to support the body. Fusion function with the hands and feet in the leg makes the robot grab objects and the leg performs the functions of feet when walking. The robot has a modular structure, which is made up of the body, walking legs, band-foot-integrated legs, control modules, and other components, which are easily linked and extended. The related experiments of the robot prototype carried out show that the robot can walk and grasp a specific target, achieving the integrated function of hands and feet for the robot.