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For the cleaning of high-rise buildings, welding and testing of large chemical tanks and safety inspection of narrow Spaces such as pipelines and tunnels, the traditional way is manual operation, which has disadvantages such as hidden dangers and low efficiency. To solve these problems, a design scheme of wall-climbing robot is proposed. By studying the wall-climbing mechanism of natural inchworm organisms and combining with bionic technology, a multi-mode wall-climbing robot imitating inchworm is developed by using two technologies of vacuum adsorption and claw adhesion. Firstly, under static conditions, the mathematical model of the robot is established by using D-H parameter method, and the forward and inverse solutions of robot kinematics are solved. And then the control method of the robot is studied based on the polar coordinate theory, and the gait control strategy is analyzed. The control system of the actual prototype is built based on the embedded controller, and the functional test is carried out. Experiments verify the correctness of the kinematics model of the wall-climbing robot and the smoothness of the gait control method, which provide a reference for the further research of bipedal bionic robots.