The invention discloses a buffering energy-saving and active anti-
subsidence bionic mechanical foot. The foot is composed of a tarsometatarsus,
metatarsophalangeal joints, a second phalanx, a third phalanx, a steering engine and a
toe pad; each metatarsophalangeal joint is composed of a base, a support, a connection rod, a spring, a horizontal slider, a
first phalanx, a vertical slider, a hinge pin and the like. Ostrich feet are used as a bionic prototype. On one hand, considering the motion morphology of sand touching and sand crossing of the ostrich feet when an ostrich runs on the sand land at high speed, the
metatarsophalangeal joints which are permanently kept off the sand land are designed, and energy-storage, buffering and energy-saving effects are achieved; on the other hand, considering the aspect of material
assembly, the phalanx adopts rigid materials, the
toe pad adopts rubber materials, and rigid-flexible
coupling plays a role in protecting a skeleton. Besides, considering the ostrich feet sand-off posture and active anti-
subsidence characteristics, the steering engine drives the phalanxes to be off the sand land in sequence, and the active anti-
subsidence effect is achieved. The bionic mechanical foot is simple in structure and multifunctional, and helps to improve the walking ability of a
robot in the soft ground like sand land.