This research is applied mainly for routine inspection, rescue missions in multi-terrains environment. The main process of developing this hexapod based wheel-legged robot includes mechanism structure design, electronic devices configuration, gaits’ control adjustment and pathing route simulation. With the use of transformable wheel-legs, the robot can run flexibly in flat under the wheeled mode, and through the gear and mechanism system, it would shift to legged mode to show enough capability for overring the unstructured obstacles. As the expectation, this robot would have bright prospects for variable terrains application and substitute current rivals by its higher efficiency and adaptability.