Abstract: Inspired by the climbing motion of animals such as inchworm, a miniature biped robot with multi-locomotion modes is developed, named MiniBibot, driven by servo motors. The robotic system is designed and built with modular methodology. The processes and methods to develop user's program are illustrated with the control instance of climbing poles. According to the robot's configuration, five realizable locomotion modes are proposed, and their features and applications are analyzed. A series of experiments with this miniature biped robot are conducted to illustrate and verify the effectiveness and feasibility of the proposed robotic system and its multi-locomotion modes.