The invention discloses a rocker suspension frame, a wheel-leg-type mobile platform and an unmanned control system. The rocker suspension frame comprises a body which comprises the two opened ends andthe two closed ends which are arranged in the opposite direction. A connecting shaft is fixed to the outer side wall, close to the direction of the closed ends, of the body and is perpendicular to the axis of the body; a bearing is arranged on the outer side wall of the middle of the body, and the body is internally provided with an inner torsion rod and an outer torsion rod; the position, closeto the closed direction ends away from the body, of the inner torsion rod is connected with the outer torsion rod, and the other end of the outer torsion rod stretches towards the body closed direction ends; the body is internally provided with a driving unit, a harmonic reducer, a planetary gear train, a friction clutch and an adjustable pressing unit which are connected in sequence; and the planetary gear train is functionally connected with the closed direction end, close to the body, of the outer torsion rod. The wheel-leg-type mobile platform comprises a vehicle frame, driving wheels andthe multiple rocker suspension frames; the unmanned control system is used for controlling cooperative work of the driving wheels and the rocker suspension frames of the platform under different working conditions; and rotary moving of the rocker suspension frames can make the platform to obtain the accurate moving position and speed.