The invention provides leg crawler type liftable stepping 
chassis for 
engineering machinery and a method for controlling the leg crawler type liftable stepping 
chassis. The leg crawler type liftable stepping 
chassis comprises a front vehicle, a hinge steering device with double 
degrees of freedom and a rear vehicle. The front vehicle, the hinge steering device with the double 
degrees of freedom and the rear vehicle are sequentially hinged to one another to form the leg crawler type liftable stepping chassis; the front vehicle is hinged to the hinge steering device with the double 
degrees of freedom in a transverse swinging manner, and the hinge steering device with the double degrees of freedom is hinged to the rear vehicle in a lateral turnover manner; front chassis and two 
leg type expansion shock-proof devices are hinged to one another to form the front vehicle; rear chassis and two 
leg type expansion shock-proof devices are hinged to one another to form the rear vehicles; a crawlerwheel is hinged to the bottom of each 
leg type expansion shock-proof device, the various leg type expansion shock-proof devices can be independently expanded and contracted, so that the leg crawler type liftable stepping chassis can carry out lifting and 
obstacle crossing actions. The method includes processes for controlling the leg crawler type liftable stepping chassis during lifting; controlling the leg crawler type liftable stepping chassis during crossing; controlling the leg crawler type liftable stepping chassis on road surfaces with high 
height difference. The leg 
caterpillar type liftable stepping chassis and the method have the 
advantage that 
engineering vehicles can smoothly cross roads under extreme road conditions including severe water 
logging, huge obstacles, ditches and the road surfaces with the high 
height difference.