中文摘要：

受尺蠖等动物攀爬动作的启发，开发了一款舵机驱动的具有多种运动方式的小型双手爪机器人MiniBibot．采用模块化方法设计和搭建了机器人系统，以攀爬杆件为控制实例介绍了用户程序开发的步骤和方法．然后根据该机器人的构型，提出了5种可实现的运动方式，并分析了各自的特点和应用．最后通过一系列实验，充分展示和验证了所提出的双手爪机器人系统及其运动方式的有效性和可行性．

英文摘要：

Inspired by the climbing motion of animals such as inchworm, a miniature biped robot with multi-locomotion modes is developed, named MiniBibot, driven by servo motors. The robotic system is designed and built with modular methodology. The processes and methods to develop user＇s program are illustrated with the control instance of climbing poles. According to the robot＇s configuration, five realizable locomotion modes are proposed, and their features and applications are analyzed. A series of experiments with this miniature biped robot are conducted to illustrate and verify the effectiveness and feasibility of the proposed robotic system and its multi-locomotion modes.