This project has developed a compact two-wheeled leg robot hardware and software system designed to enable the robot to achieve autonomous navigation in urban environments with strong adaptability. Typical application areas include security patrols, terrain surveying, and material delivery. The system developed in this project allows the robot to autonomously overcome obstacles by running and jumping while maintaining a balanced state, improving efficiency and alleviating human resource constraints in practical tasks. With different sensors and actuators, this system can also be used for various tasks in urban or outdoor environments.