The invention relates to a bionic walking wheel capable of automatically adapting to soft and hard surfaces of a
planet and belongs to the technical field of
engineering bionics; the inner ends of elastic
metal sheets of 10-12 casters in one bionic
caster group and the inner ends of elastic
metal sheets of 10-12 casters in the other bionic
caster group are uniformly distributed and fixedly connected to the left part and the right part of the circumferential surface of a rim in an inner wheel respectively; the included angle theta1 of the end faces of the bionic casters of the two bionic
caster groups is 155-170 degrees, and the
dislocation angle theta2 of the bionic casters of the two bionic caster groups is 20-30 degrees. A soft
cushion I is nested in a wheel surface supporting piece and plays a role in preventing falling off; a soft
cushion II is connected with the wheel face supporting piece and plays a role of a wheel face together, and the elastic
metal sheets play a role in supporting and
cushioning. The foot
biological structure and the sand crossing mechanism of a jerboa, an desert typical animal, are used for reference, the bionic casters move independently and interact, can adapt to the soft and hard ground environment and cross small obstacles, and is suitable for the soft and hard ground environment where
loam and stone coexist such as desert, gobi, moon and Mars, and the bionic walking wheel has the advantages of being simple in structure and high in stability, and is convenient to apply and popularize.