The invention relates to a flexible
biped robot, in particular to a pneumatic-electric combined driving flexible
biped robot. The problems that linkage between
joint flexibility and a dynamic response characteristic of existing flexible biped robots is poor, the walking efficiency of the robots is low and the dynamic stability of the robots is poor are solved. The pneumatic-electric combined driving flexible
biped robot comprises a left leg, a right leg and a
pelvis. The left leg and the right leg each comprise a
thigh, a shank, a foot, a hip joint, a
knee joint and an
ankle joint. Each hip joint comprises a one-way series-connection elastic driver and a hip joint transmission mechanism. Each one-way series-connection elastic driver comprises a motor, a motor seat, a
torsion spring, a first hub, a second hub, a first clamping ring, a second clamping ring and a hip joint driving shaft. Each hip joint transmission mechanism comprises a driving belt wheel, a driven belt wheel, a driving belt and a hip joint driven shaft. The driving belt wheels are mounted on the hip joint driving shafts correspondingly. Each
knee joint comprises a
knee joint driving mechanism and a knee joint transmission mechanism. The pneumatic-electric combined driving flexible biped
robot belongs to the field of humanoid robots.