The invention provides an eight-
legged robot with bionic rigid-flexible
coupling legs and a control method. The
search and rescue robot comprises a
machine frame, a
machine shell, the rigid-flexible
coupling legs, a control
processing module, a sensing unit, a
wireless transmission module, a motor driving module and a
power module, eight rigid-flexible
coupling legs with a same structure are arranged, a first left leg, a second left leg, a third left leg and a fourth left leg are installed on the left side of the
machine frame, and a first right leg, a second right leg, a third right leg and a fourth right leg are installed on the right side of the machine frame and each comprises a rigid segment, a joint shaft, a foot, a
torsion spring, a linear driver, a connecting piece and a
spring steel sheet. The control method comprises a step length control method, a
step frequency control method, a height control method, a rack and rigid-flexible coupling leg coordination control method, a stable climbing
gait control method and a tunnel passing
gait control method. According to the eight-
legged robot, the rigid segments and the flexible
spring steel sheets are combined, and the eight-
legged robot has the advantages of being compact in structure, light, self-adaptive, flexible and the like and can be used for tasks such as
search and rescue and detection.