At present, multipodal robots have some shortcomings, such as single function, slow moving speed, poor obstacle-crossing ability and so on, which are difficult to meet needs of people. In order to solve the above problems, A biped four-wheel variable walking mechanism multi-functional biomimetic robot system It includes the car body, Wheel, hub motor, mechanical leg support, mechanical leg hinge,An upper mechanical leg link, Middle mechanical leg joint, Middle mechanical leg connecting rod, lower mechanical leg joint, Lower mechanical leg connecting rod, mechanical claw joint, A back finger,forefinger of mechanical pawl, end of claw, Front ultrasonic sensor, The rear ultrasonic sensor, front vision sensor mount, front vision sensor, rear vision sensor mount, rear vision sensor, cargo box, sensor signal processing system, robot control system and robot driving system can be maneuvered in all terrain, and have the characteristics of lightweight, intelligence and multi-function, and have very broad application prospects.