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For the foot trajectory planning problem of underwater crawling-swimming robots, this paper proposes a multi-segment foot trajectory and investigates the high-order polynomial fitting methods. Firstly, the overall structure of the crawling-swimming robot is introduced and the kinematic model is consequently presented. Considering the crawling motion characteristics and the kinematic model, a multi-segment foot trajectory is proposed by integrating two straight lines and a curve. Next, both the fourth-order polynomial method and the sixth-order polynomial method are used to fit the foot trajectory. Comparing the two fitting results, it can be seen that the sixth-order polynomial fitting method has a better planning effect on the robot foot-end velocity and acceleration. the sixth-order polynomial trajectory fitting method is used to calculate the joint points of the multi-segment trajectory. The speed problem is analyzed, and the problem of the leg shaking during the movement of the robot is solved, so that the mechanical leg has good control flexibility. Finally, the single-leg simulation model of the robot is established based on the DH law, and the feasibility of the algorithm is verified by simulation. The effectiveness of the foot trajectory proposed in this paper has been verified by an actual prototype of the underwater crawling-swimming robot.