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At present, most of multi-legged walking robots are still facing problems such as single function and maintainability. Walking robots are usually as a simple mobile platform. In order to expanding the application of the robot, the modular multi-legged walking robot based on hand-foot-integrated function is described in this paper. The robot not only can complete the walk but also can grasp the object by taking advantage of the leg's griping function. In this paper, the design concept and structure of such robot are introduced in details. The amount, the shape and the DOF of finesse, the selection of drive mode and transmission mechanism are discussed. Two typical hand-foot-integrated structures which can finish this function are introduced, it contains clamp structures robot and underactuated articulated structures robot. Design issues of two typical structures are discussed.