The　burgeoning　complexity　of　space　missions　has　amplified　the　research　focus　on　robots　that　are　capable　of　assisting　astronauts　in　accomplishing　tasks　within　space　stations.　Nevertheless,　these　robots　grapple　with　substantial　mobility　challenges　in　a　weightless　environment.　This　study　proposed　an　omnidirectional　continuous　movement　method　for　a　dual-arm　robot,　inspired　by　the　movement　patterns　of　astronauts　within　space　stations.　On　the　basis　of　determining　the　configuration　of　the　dual-arm　robot,　the　kinematics　and　dynamics　model　of　the　robot　during　contact　and　flight　phases　were　established.　Thereafter,　several　constraints　are　determined,　including　obstacle　constraints,　prohibited　contact　area　constraints,　and　performance　constraints.　An　optimization　algorithm　based　on　the　artificial　bee　colony　algorithm　was　proposed　to　optimize　the　trunk　motion　law,　contact　point　positions　between　the　manipulators　and　the　inner　wall,　as　well　as　the　driving　torques.　Through　the　real-time　control　of　the　two　manipulators,　the　robot　is　capable　of　achieving　omnidirectional　continuous　movement　across　various　inner　walls　with　complex　structures　while　maintaining　optimal　comprehensive　performance.　Simulation　results　demonstrate　the　correctness　of　this　method.　The　method　proposed　in　this　paper　provides　a　theoretical　basis　for　the　application　of　mobile　robots　within　space　stations.