The invention belongs to the related technical field of robots, and discloses a low-
inertia and high-load-bearing leg structure and a
foot type robot applying the same. The leg structure comprises a
crotch connector, a
pelvis assembly, a
knee joint motor, a hip joint motor, a side-sway joint motor and leg connecting rods, the
crotch connector is connected with stators of the three motors at the same time, rotors of the three motors are connected with the
pelvis assembly, the side-sway joint motor is coaxially opposite to the hip joint motor, the axis of the
knee joint motor is perpendicular to the axes of the two motors, the hip joint motor drives the
thigh connecting rod to rotate, the
knee joint motor drives the shank connecting rod to rotate, and the side swing joint motor drives the leg connecting rod to swing laterally, so that outward swing and inward retraction of the legs of the
robot and flexion and extension of the thighs and the shanks are achieved. According to the
robot, the three joint motors are connected to the robot body and the
pelvis assembly in parallel for power distribution, so that the
inertia of the legs is reduced, the rigidity of the legs is enhanced, and the bearing and dynamic response capabilities are improved.