To address the limitations of the earthworm-like locomotion robot in rapid locomotion across open terrains, an earthworm-like locomotion robot with dual air-ground locomotion modes is proposed, which enhances environmental adaptability and mobility efficiency through integrated aerial flight and terrestrial peristaltic locomotion. Antagonistic interactions between circular and longitudinal muscles are simulated using spring steel strips and servo motor-driven fishing lines. The aerial flight mode employs a tandem dual-tilt ducted configuration, where duct tilt angles are directly driven by servo motors to achieve thrust vector regulation through PID control. A mass-spring-damper model for terrestrial locomotion and a Newton-Euler dynamic model for aerial navigation are established respectively. A modular control system architecture is developed, integrating bio-inspired actuation, attitude resolution, and multi-mode coordination. Experimental results demonstrate that single-unit contraction/extension deformation reaches 13.9%, enabling pipeline crawling within 11 cm diameter-constrained environments. During mode transition, a V-shaped configuration increases vertical duct span by 218.4%, significantly enhancing flight stability. The duct system generates maximum lift of 40.57 N while maintaining total mass below 2 kg, satisfying basic flight requirements.