Although　many　climbing　robots　have　been　developed,　working　stably　on　complex　surface　in　narrow　space　still　remains　a　challenge.　In　this　work,　we　present　a　miniature　inchworm-gecko　inspired　robot　(IGIR)　which　can　achieve　climbing　and　sensing　adhesion　state　on　different　kinds　of　surface　including　flat　and　porous　surfaces.　Inspired　by　the　inchworm’s　locomotion　and　gecko’s　adhesion　mechanism,　we　conduct　the　overall　system　design　of　IGIR　by　using　servos　and　connecting　rods　to　form　a　motion　module,　the　negative　pressure　driven　gecko　adhesion　feet　as　the　adhesive　module,　and　the　micro　three-axis　force　sensor　as　the　sensing　module.　Facing　the　problem　of　stable　adhesion　perception　of　climbing　robots,　the　adhesion　state　detection　of　IGIR　is　realized　through　the　sensing　module　and　detection　strategy.　A　novel　CPG　control　model　is　established　to　realize　the　periodic　gait　of　IGIR,　and　the　adaptive　adjustment　is　completed　by　combining　the　adhesion　state　detection　information.　Finally,　a　prototype　of　IGIR　is　made.　Experiments　of　the　prototype　verify　the　feasibility　of　the　proposed　adhesion　state　detection　and　CPG　control　model　of　IGIR.　The　maximum　moving　speed　of　IGIR　is　24 cm/min.　Over　all,　this　paper　shows　the　combination　of　adhesion　detection　and　gait　planning　for　climbing　robot,　and　provides　a　new　way　to　the　research　of　climbing　robot　stable　locomotion.　©　2023,　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.