When the caster or wheel robot performing the translation of wheel and foot, it must be completed in stationary state, but can not perform the transformation while in movement. A robot is developed which consists of four main drive shaft with two degrees of freedom (2-DOF) caster recombination mechanism. Using central pattern generator (CPG) biomimetic control architecture, by means of a variety of sensor information to generate the moving track signals suitable for the current environment, so that the robot could perform smooth gait and speed transform in unknown terrain. Through tests show that, the caster robot could achieve a smooth transition movement of caster by changing the control parameters Kp, maximum speed of wheel mode and feet mode are 0.87 m/s and 0.56 m/s, with maximum obstacle height of 15 cm, it can provide reference for obstaclecrossing robot with function of automatically path identifying.