Disclosed herein is a capsule type micro-robot bidirectional moving system capable of moving forward and backward. The system includes a selective moving body for linearly moving forward and backward along a predetermined axis a driving means for moving the selective moving body a first moving body disposed at the front of the selective moving body a second moving body disposed at the rear of the selective moving body a first legs coupled to the first moving body to be folded/unfolded and a second legs coupled to the second moving body to be folded/unfolded. In the system, the selective moving body is selectively coupled to or decoupled from the first or the second moving body.
