The invention belongs to the field of digging, loading and the like, and particularly relates to a method for rolling friction stretching and retracting of a rocker and a rolling friction stretching and retracting digger or loader of the rocker. The rolling friction stretching and retracting digger or loader of the rocker comprises the rocker, a machine body, a rolling body, a stretching and retracting control part, a working head, a driving mechanism of the working head and the like, wherein the rocker comprises a stretching and retracting arm, a supporting arm for stretching and retracting and the like, the rolling body is arranged between the stretching and retracting arm and the supporting arm for stretching and retracting, one end of the stretching and retracting control part is connected with the machine body, the other end of the stretching and retracting control part is connected with the stretching and retracting arm, the rocker is connected with the machine body, the stretching and retracting control part controls the stretching and retracting arm to stretch and retract, the stretching and retracting arm moves in a rolling friction mode through the rolling body, the working head is arranged on the stretching and retracting arm, the driving mechanism of the working head drives the working head to perform digging or loading, the machine body comprises a walking mechanism, and the walking machine drives the whole machine to walk.