Abstract: To meet the requirements of the multi-robot cross-domain torch relay at the Beijing Olympic Winter Games, 6 types of robots are developed for torch relay, including amphibious robot (AR), underwater variable structure robot (VSR), unmanned aerial vehicle (UAV), unmanned ground vehicle (UGV), six-legged robot (SR) and exoskeleton robots (ER). Based on these robots, the torch relay on the ground, in the air and underwater can be realized respectively. According to the adjustment of torch relay route plan at the Beijing 2022 Olympic and Paralympic Winter Games, AR, VSR and specific underwater torch are successfully applied to the underwater torch relay at the Beijing 2022 Olympic Winter Games, realizing the first underwater torch relay between robots in the history of the Olympic Games. ERs are used in torch relay at the Beijing 2022 Paralympic Winter Games. The representative of the disabled used ER at the allspark gathering ceremony, and two disabled torchbearers completed the torch relay using the upper and lower limb ERs respectively. This activity conveys the concept of "technology changes life" and reflects the spirit of "technology warms people's hearts".