The invention discloses a semi-wheel type robot. The semi-wheel type robot comprises a machine body, a control system and travel devices, wherein the control system is mounted in the machine body; the travel devices are symmetrically mounted on the side surfaces of the machine body; moreover, the control system comprises a central controller, a motor drive controller, a wireless communication unit, position detectors and a battery; the travel devices adopt semi-wheel type structures, and mainly comprise semi-wheels and motors, the semi-wheels are mounted on the output shafts of the motors via drive holes, and the motors are mounted on the machine body via motor fixing boards; the number of the position detectors is the same as that of the semi-wheels, and the position detectors are mounted between the semi-wheels and the motor fixing board. According to the invention, the foot adopts a semi-wheel structure, as a result, both the stability of system power consumption and high efficiency of the travel of the robot on a regular landform are considered; in addition, the capability for crossing a barrier on an irregular landform of the robot can be realized; the robot is high in landform adaptability, can travel under a complex environment, and has the movement efficiency of wheels on a regular landform.