This application relates to the field of
robotics, specifically to a leg structure for a
robot and the
robot itself. The leg structure for the
robot includes: a
thigh rod, comprising a
power unit, a first gear, a second gear, a third gear, and a
rocker arm; the first gear is fixedly mounted on the output end of the
power unit; the second gear meshes with the first gear, and the third gear meshes with the second gear; the
rocker arm is relatively fixed to and coaxially rotates with the third gear, the
pitch circle
diameter of the third gear being larger than that of the first gear; a pull rod, including a first end and a second end, the first end of the pull rod being connected to the
rocker arm; and a lower leg rod, including a first connecting portion and a second connecting portion, the lower leg rod being rotatably connected to the
thigh rod through the first connecting portion, the second connecting portion being connected to the second end of the pull rod, and the first connecting portion and the second connecting portion being spaced apart. By using a multi-gear structure instead of a
reducer structure, the
range of motion of the lower leg rod relative to the
thigh rod is increased, and the leg structure is low-cost and compact.