Multi-degree-of-freedom robot sole structure and driving control method

Abstract

The invention discloses a multi-degree-of-freedom robot sole structure and a driving control method.The sole structure comprises a sole and a driving part used for driving the sole to rotate around a leg structure to achieve lifting or pressing, and the driving method specifically comprises the following steps that when the sole needs to be lifted, a first driving unit is controlled to drive a first gear to rotate, and a second driving unit is controlled to drive a second gear to rotate; through meshing transmission of a first gear and a second gear, a first connecting rod is driven to move, and a sole is driven to lift and rotate around a hinge point connected with a leg structure, and when the sole needs to be pressed downwards, a second driving unit is controlled to drive a flange plate to rotate, and a second connecting rod is driven to move; by controlling the sole mechanism with the bionic function, bending and stretching movement of human ankles can be simulated, and stable gaits can be achieved, the robot can adapt to uneven terrains, and landing impact can be effectively buffered.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to the foot structure and drive control method of a multi-degree-of-freedom robot. Background Technology

[0002] Humanoid robot technology has made significant progress in recent years, and the design of its leg and foot structures is crucial to determining the robot's motion stability, flexibility, and energy efficiency. A biomimetic foot mechanism, capable of mimicking the flexion and extension movements of the human ankle, is essential for achieving a smooth gait, adapting to uneven terrain, and effectively cushioning the impact of landing.

[0003] Currently, the main methods for implementing robotic feet or ankle joints can be categorized as follows: The first type of solution focuses on active compliance and variable stiffness control of the joint. For example, existing technology (such as patent document CN120680551A) discloses a redundantly driven variable stiffness ankle joint structure. This structure uses two independent drive units to drive two eccentric wheels, which in turn pull two elastic links to adjust the ankle joint angle and support stiffness. The advantage of this type of solution is that it can effectively buffer impacts and protect the mechanism. However, its structure is complex and relies on the deformation of elastic elements, resulting in transmission lag and making it difficult to achieve precise and rigid posture control of the foot. At the same time, the elastic elements also introduce nonlinear characteristics, increasing the complexity of the control algorithm. For applications that require rapid and precise execution of foot lifting and pressing movements, this type of solution has obvious limitations.

[0004] The second type of solution focuses on achieving overall robot movement and multimodal motion. For example, existing technology (such as patent document CN201822060084.4) discloses a deformable robot leg structure that combines humanoid walking and wheeled movement. This structure uses multiple servo motors working in coordination to achieve the transformation of the legs between humanoid and vehicle shapes, and uses a gear system to transmit power to the wheels. However, the transmission mechanism of this solution is designed to drive the wheels to rotate and achieve overall robot movement. Its "feet" only serve as a simple support or connecting component, and it completely lacks the ability to simulate the active and dexterous up-and-down (pitch) movements of a biological foot.

[0005] In addition, there are some solutions that use simple servos to directly drive the feet. Although the structure is simple, they often have problems such as insufficient output torque, unstable movement or large space occupation, making it difficult to achieve efficient and reliable power transmission and motion conversion in the compact foot space. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention proposes a multi-degree-of-freedom robot foot structure and drive control method. By controlling the biomimetic foot mechanism, it is possible to simulate the flexion and extension movements of the human ankle, thereby achieving a stable gait, adapting to uneven terrain, and effectively cushioning the impact of landing.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A multi-degree-of-freedom robot foot structure is characterized by comprising a foot and a drive unit for driving the foot to rotate around a leg structure to achieve lifting or pressing down. The drive unit includes a drive mechanism and a transmission mechanism, and the drive mechanism includes a first drive unit and a second drive unit. The transmission mechanism includes a first gear, a second gear, a first connecting rod, a second connecting rod, and a flange. The first gear is connected to the output end of the first drive unit, the second gear meshes with the first gear, and one end of the first connecting rod is hinged to the non-center of the second gear through a connecting component, while the other end is rotatably connected to the foot. The flange is connected to the output end of the second drive unit, and the connection point is located at a non-center point. One end of the second connecting rod is connected to the flange at a point different from the connection point between the flange and the output end of the second drive unit, and the other end is rotatably connected to the foot.

[0008] As a preferred technical solution of the present invention: a connecting rod mounting seat is provided on the foot, a rolling shaft is provided on the connecting rod mounting seat, and a ball shaft is provided at one end of the first connecting rod and the second connecting rod respectively. The first connecting rod and the second connecting rod are rotatably connected to the rolling shaft through the ball shaft respectively.

[0009] As a preferred technical solution of the present invention: when the foot is in the initial horizontal position, the first link and the second link are arranged in a cross shape on the plane projection perpendicular to the roll axis, forming a cross angle α, wherein the cross angle α is defined as greater than or equal to 10° and less than 90°.

[0010] As a preferred technical solution of the present invention, the optimal range of the intersection angle α is 15°-45°.

[0011] As a preferred embodiment of the present invention, the effective length L1 of the first connecting rod and the effective length L2 of the second connecting rod satisfy: L1 / L2 = 0.8 : 1~1.2 : 1.

[0012] As a preferred technical solution of the present invention: a central through hole is provided in the center of the second gear, the output end of the second drive unit is located in the central through hole and protrudes from the central through hole, and there is a gap between the output end of the second drive unit and the central through hole. When the flange is installed at the output end of the second drive unit, there is a gap between the flange and the end face of the second gear, so that the flange and the second gear are arranged side by side in space.

[0013] As a preferred embodiment of the present invention: the connecting component is mounted on the second gear and protrudes from the end face of the second gear, and one end of the first connecting rod is hinged to the connecting component.

[0014] As a preferred embodiment of the present invention, both the first drive unit and the second drive unit are servo motors.

[0015] As a preferred embodiment of the present invention, the transmission ratio between the first gear and the second gear is 1:1 to 1:3.

[0016] A method for driving and controlling the foot of a multi-degree-of-freedom robot, characterized by comprising the following steps: S1. The robot controller receives motion commands from the remote controller, the motion commands including the target motion direction and amplitude; S2. The robot controller coordinates and controls the rotation of the first drive unit and the second drive unit according to the motion command to realize the drive control of the robot's feet, as follows: When it is necessary to lift the foot, the first drive unit is controlled to drive the first gear to rotate. Through the meshing transmission between the first gear and the second gear, the first connecting rod is driven to move, causing the foot to rotate upward around the hinge point where it connects to the leg structure. When it is necessary to press down on the foot, the second drive unit is controlled to drive the flange to rotate, which in turn drives the second linkage to move, causing the foot to rotate downward around the hinge point where it connects to the leg structure.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention controls the first link, the second link, and gears to make them work together, eliminating the complex elastic links, eccentric wheels, and variable stiffness control systems of the prior art. Because rigid transmission means that there is a deterministic and precisely calculable linear relationship between the input (motor rotation angle) and the output (foot angle), there are no nonlinear problems such as elastic hysteresis and creep, which fundamentally simplifies the mechanical structure and control model.

[0018] This invention simplifies the control logic by employing two drive units, each performing its specific function. Engineers no longer need to design complex algorithms to handle a complex, coupled multivariable system (such as the need to simultaneously coordinate angle and stiffness in the prior art). Single-direction motion can be achieved simply by sending commands to the corresponding motor, making subsequent programming, debugging, and real-time control extremely simple and reliable.

[0019] This invention centrally fixes all drive and transmission components in the leg structure and designs a flange that passes through the center of the second gear coaxially, avoiding external motors and long transmission chains. It encapsulates all power sources and transmission mechanisms inside the leg structure, reducing external space occupation.

[0020] The flange of this invention passes through the second gear, utilizing the empty area at the center of the second gear. The flange and gear are stacked axially (longitudinally) instead of arranged side by side radially. This greatly reduces the lateral dimension of the mechanism, achieving extreme compactness and allowing it to perfectly fit into the narrow installation space of the foot. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the foot structure of the multi-degree-of-freedom robot in this invention; Figure 2 This is a schematic diagram of the internal structure of the foot of the multi-degree-of-freedom robot in this invention; Figure 3 This is a schematic diagram of the connecting rod mounting base structure in this invention; Figure 4 This is the overall flowchart of the present invention.

[0022] List of reference numerals in the attached diagram: 1. Foot; 10. Linkage mount; 11. Roller shaft; 12. Ball bearing; 13. Connecting component; 2. Leg structure; 3. Transmission mechanism; 31. First gear; 32. Second gear; 33. First connecting rod; 34. Second connecting rod; 35. Flange; 4. Drive mechanism; 41. First drive unit; 42. Second drive unit. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: like Figure 1-3 As shown, the multi-degree-of-freedom robot foot structure proposed in this invention includes a foot 1 and a drive unit for driving the foot 1 to rotate around a leg structure 2 to achieve lifting or pressing down. The drive unit includes a drive mechanism 4 and a transmission mechanism 3. The drive mechanism 4 includes a first drive unit 41 and a second drive unit 42; The transmission mechanism 3 includes a first gear 31, a second gear 32, a first connecting rod 33, a second connecting rod 34, and a flange 35. The first gear 31 is connected to the output end of the first drive unit 41, the second gear 32 meshes with the first gear 31, one end of the first connecting rod 33 is hinged to the non-center of the second gear 32, and the other end is rotatably connected to the foot 1.

[0024] Specifically: The multi-degree-of-freedom robot foot structure proposed in this invention includes a foot 1, which is rotatably connected to a leg structure 2 and forms a first hinge point on the leg structure 2. The first hinge point is used to realize the rotation of the foot 1 on the leg structure 2. It also includes a drive unit, which is rotatably connected to the foot 1 and forms a second hinge point on the foot 1. The drive unit can drive the foot 1 to lift or press down through the second hinge point.

[0025] The drive unit includes a drive mechanism 4 and a transmission mechanism 3. The drive mechanism 4 includes a first drive unit 41 and a second drive unit 42, which are respectively fixed on the leg structure 2. The first drive unit 41 and the second drive unit 42 are drive components used to cooperate with the transmission mechanism 3 to lift or press down the foot 1.

[0026] The transmission mechanism 3 includes a first gear 31, a second gear 32, a first connecting rod 33, a second connecting rod 34, and a flange 35. The first gear 31 is connected to the output end of the first drive unit 41, the second gear 32 meshes with the first gear 31, one end of the first connecting rod 33 is hinged to the non-center of the second gear 32, and the other end is connected to the second hinge point.

[0027] With the above configuration, when the first drive unit 41 is working, the first drive unit 41 will drive the first gear 31 to rotate, and the first gear 31 will drive the second gear 32 to rotate. Since the upper end of the first connecting rod 33 is hinged to the non-center of the second gear 32, and the lower end of the first connecting rod 33 is hinged to the foot 1, the foot 1 can be driven to rotate along the first direction.

[0028] Specifically, The first direction can be the forward or backward direction of the robot's foot 1, or a direction perpendicular to the forward or backward direction of the robot's foot 1, or a direction that forms a certain angle with the forward or backward direction of the robot.

[0029] The flange 35 is connected to the output end of the second drive unit 42, and the connection point is located at a non-center position. One end of the second connecting rod 34 is connected to the flange 35 at a location different from the connection point between the flange 35 and the output end of the second drive unit 42, and the other end is connected to the second hinge point.

[0030] The upper end of the second connecting rod 34 is hinged to the non-center of the flange 35, and the lower end of the second connecting rod 34 is hinged to the foot 1. One end of the flange 35 is connected to the output end of the second drive unit 42. Thus, when the second drive unit 42 is running, the flange 35 drives the second connecting rod 34 to move and drives the foot 1 to rotate in a second direction opposite to the first direction.

[0031] Specifically, the second direction is opposite to the first direction, and can be the forward or backward direction of the robot's foot 1, or a direction perpendicular to the forward or backward direction of the robot's foot 1, or a direction that forms a certain angle with the forward or backward direction of the robot.

[0032] In this invention, the gears used to drive the first link 33 are not limited to the first gear 31 and the second gear 32. If necessary, multiple gears of different specifications can be added between the first gear 31 and the second gear 32 to realize the transmission between the first gear 31 and the second gear 32. Specifically, when considering increasing the distance between the first drive unit 41 and the second drive unit 42, multiple gears of different specifications are added between the first gear 31 and the second gear 32 to realize the transmission between the first gear 31 and the second gear 32. The lengths of the corresponding first link 33 and the second link 34 will also increase accordingly, which can easily adapt to the length of the robot's legs.

[0033] In this embodiment: a connecting rod mounting seat 10 is provided on the foot 1, a rolling shaft 11 is provided on the connecting rod mounting seat 10, a ball shaft 12 is provided at one end of the first connecting rod 33 and the second connecting rod 34 respectively, and the first connecting rod 33 and the second connecting rod 34 are rotatably connected to the rolling shaft 11 through the ball shaft 12 respectively.

[0034] Specifically: A connecting rod mounting seat 10 is also provided above the foot 1. A roll shaft 11 is provided on the connecting rod mounting seat 10. A circular hole is provided on the end of the first connecting rod 33 and the second connecting rod 34 that are connected to the foot 1. A ball shaft 12 is provided in the circular hole and is mounted on the roll shaft 11. In this way, the foot 1 can rotate left and right, and the leg structure 2 and the first connecting rod 33 and the second connecting rod 34 can tilt forward and backward relative to the foot 1.

[0035] In this embodiment: when the foot 1 is in the initial horizontal position, the first link 33 and the second link 34 are arranged in a cross shape on the plane projection perpendicular to the roll axis 11, forming a cross angle α. The cross angle α is limited to a range of greater than or equal to 10° and less than 90°.

[0036] In this embodiment, the optimal range of the intersection angle α is 15°-45°.

[0037] Specifically: When the foot 1 is in a horizontal initial position, the first link 33 and the second link 34 are arranged intersectingly on the plane projection perpendicular to the roll axis 11, forming an intersection angle α. The intersection angle α is greater than or equal to 10° and less than 90°. Here, "the foot 1 is in a horizontal initial position" means that the foot 1 is in a preset reference posture. In this posture, the bottom surface of the foot 1 is parallel to or forms a defined 0-degree angle with a fixed reference surface of the leg structure 2. "The plane of the roll axis 11" refers to the plane where the roll axis 11 is located.

[0038] When the cross angle α is greater than or equal to 10° and less than 90°, transmission efficiency can be optimized and "dead points" can be avoided. For example, when the two connecting rods are parallel, the mechanism will be in a "dead point" position, at which time the transmission efficiency is extremely low, and it may even jam. Limiting the angle to a large range of greater than or equal to 10° and less than 90° ensures that the dead point is avoided throughout the entire movement stroke, guaranteeing effective force transmission.

[0039] When the cross angle α is greater than or equal to 10° and less than 90°, the relationship between the movement speed of the foot 1 and the rotational speed of the motor becomes closer to linear. This makes the acceleration changes of the robot during movement smoother, significantly reducing the impact and vibration of the mechanism. It also makes the robot's gait more stable and natural, and greatly simplifies the design of the control algorithm, because the controller does not need to frequently deal with the drastic changes caused by nonlinear motion relationships.

[0040] The crossing angle α ranges from 15° to 45°. Within this range, the mechanism exhibits the highest force transmission efficiency, the smoothest movement, and the best overall performance. More preferably, the crossing angle α is approximately 20°.

[0041] In this embodiment, the effective length L1 of the first link 33 and the effective length L2 of the second link 348 satisfy: L1 / L2 = 0.8 : 1 ~ 1.2 : 1.

[0042] Specifically: The effective length L1 of the first link 33 and the effective length L2 of the second link 34 satisfy: L1 / L2 = 0.8 : 1 ~ 1.2 : 1. Since the movement of the foot 1, rotatably connected to the leg structure 2, is the result of the combined action of the first drive unit 41 and the second drive unit 42, if the lengths of the two links differ significantly, the longer link will require a smaller swing angle to achieve the same end displacement of the foot 1, while the shorter link will require a larger swing angle and a faster linear velocity. This will lead to an unbalanced load on the two motors. By limiting the length ratio to a range close to 1 (0.8~1.2), this invention ensures a relatively balanced load on the two motors. This avoids overload on a single motor, reduces total energy consumption, allows for smaller and more economical motor selection, and extends the service life of the entire drive system.

[0043] Furthermore, since the effective length L1 and the effective length L2 of the second link 34 satisfy the ratio L1 / L2 = 0.8 : 1 ~ 1.2 : 1, this ensures that the output torque and motion speed characteristics of the foot 1 are similar in both the upward and downward directions. This makes the robot's gait more stable, coherent, and biomimetic, achieving consistent performance whether lifting the foot to cross obstacles or cushioning the landing of the foot 1.

[0044] In this embodiment: the second gear 32 has a central through hole, the output end of the second drive unit 42 is located in the central through hole and protrudes from the central through hole, and there is a gap between the output end of the second drive unit 42 and the central through hole. When the flange 35 is installed at the output end of the second drive unit 42, there is a gap between the flange 35 and the end face of the second gear 32, so that the flange 35 and the second gear 32 are arranged side by side in space.

[0045] Specifically: The flange 35 is coaxially fitted onto the output end of the second drive unit 42 and passes through the central through-hole of the second gear 32, so that the flange 35 and the second gear 32 are arranged side by side in space. Traditionally, the gear and flange 35 would be arranged radially side by side, which would significantly increase the lateral width of the mechanism, conflicting with the narrow space of the robot's legs. This invention cleverly stacks the two parts axially (longitudinally) by having the flange 35 "pass through" the central through-hole of the second gear 32. Furthermore, this invention integrates the flange 35, the second gear 32, and the output shaft of the second drive unit 42 into a single module. During assembly, these three components can be installed as a sub-module, simplifying the assembly sequence of the overall structure and reducing assembly difficulty and time costs.

[0046] In this embodiment: the connecting component 13 is mounted on the second gear 32 and protrudes from the end face of the second gear 32, and one end of the first connecting rod 33 is hinged to the connecting component 13.

[0047] Specifically: A connecting component 13 for connecting the first link 33 is fixed on the second gear 32. The first link 33 can be hinged on the second gear 32 through the connecting component 13, which can prevent the installation of the first link 33 from affecting the meshing of the first gear 31 and the second gear 32.

[0048] In this embodiment, both the first drive unit 41 and the second drive unit 42 are servo motors.

[0049] Specifically: Both the first drive unit 41 and the second drive unit 42 are servo motors, such as servo motors, which are servo mechanisms that integrate a motor, a reduction gear set, a position feedback device (such as a potentiometer), and control circuitry. They receive signals and automatically rotate to a specified angle. Their characteristics include "plug and play" operation and simple control.

[0050] The first driving unit 41 and the second driving unit 42 can be independent of each other or interconnected; no restrictions are placed here.

[0051] In this embodiment, the transmission ratio between the first gear 31 and the second gear 32 is 1:1 to 1:3.

[0052] like Figure 4 As shown, the multi-degree-of-freedom robot foot drive control method proposed in this invention includes the following steps: S1. The robot controller receives motion commands from the remote controller, the motion commands including the target motion direction and amplitude; S2. The robot controller coordinates and controls the rotation of the first drive unit 41 and the second drive unit 42 according to the motion command to realize the drive control of the robot's feet, as follows: When it is necessary to lift the foot 1, the first drive unit 41 is controlled to drive the first gear 31 to rotate. Through the meshing transmission between the first gear 31 and the second gear 32, the first connecting rod 33 is driven to move, causing the foot 1 to rotate upward around the hinge point where it connects to the leg structure 2. When it is necessary to press down on the foot 1, the second drive unit 42 is controlled to drive the flange 35 to rotate, which in turn drives the second connecting rod 34 to move, causing the foot 1 to rotate downward around the hinge point where it is connected to the leg structure 2.

[0053] In step S2, the first drive unit 41 and the second drive unit 42 are coordinated and controlled according to the motion command, including: first, acquiring the real-time deflection angle of the foot 1, and generating closed-loop control signals for the first drive unit 41 and / or the second drive unit 42 based on the real-time deflection angle and the target angle; then, mapping the target motion trajectory of the foot 1 to the target rotation angle of the first drive unit 41 and the target rotation angle of the second drive unit 42 according to the preset kinematic model; finally, driving the first drive unit 41 and the second drive unit 42 to rotate to their respective target rotation angles.

[0054] Coordinating the rotation of the first drive unit 41 and the second drive unit 42 includes: controlling the first drive unit 41 and the second drive unit 42 to operate alternately, that is, during the period when the first drive unit 41 drives the foot 1 to lift, the second drive unit 42 remains stationary or provides a holding torque; during the period when the second drive unit 42 drives the foot 1 to press down, the first drive unit 41 remains stationary or provides a holding torque.

[0055] Controlling the first drive unit 41 and the second drive unit 42 to operate alternately includes controlling the first drive unit 41 and the second drive unit 42 to operate in coordination to adjust the posture or stiffness of the foot 1 during movement.

[0056] The first drive unit 41 and the second drive unit 42 work together to lock the transmission mechanism 3 by simultaneously controlling the first drive unit 41 and the second drive unit 42 to output torques in opposite directions when the foot 1 touches the ground and bears the load.

[0057] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A multi-degree-of-freedom robotic foot structure, characterized by, The sole (1) and a driving part for driving the sole (1) to rotate around the leg structure (2) to realize lifting or pressing down, the driving part comprising a driving mechanism (4) and a transmission mechanism (3), the driving mechanism (4) comprising a first driving unit (41) and a second driving unit (42); The transmission mechanism (3) comprises a first gear (31), a second gear (32), a first connecting rod (33), a second connecting rod (34) and a flange (35), the first gear (31) is connected with the output end of the first driving unit (41), the second gear (32) is engaged with the first gear (31), one end of the first connecting rod (33) is hinged with the non-circular center of the second gear (32) through a connecting part (13), and the other end is rotationally connected on the sole (1); The flange (35) is connected with the output end of the second driving unit (42) and the connecting point is located at the non-circular center, one end of the second connecting rod (34) is connected on the flange (35) and is different from the connecting point of the flange (35) and the output end of the second driving unit (42), and the other end is rotationally connected on the sole (1).

2. The multi-degree-of-freedom robotic footpalm structure of claim 1, wherein, The connecting rod mounting seat (10) is arranged on the sole (1), the horizontal rolling shaft (11) is arranged on the connecting rod mounting seat (10), and the ball shaft (12) is arranged on one end of the first connecting rod (33) and the second connecting rod (34) respectively.

3. The multi-degree-of-freedom robotic footpalm structure of claim 2, wherein, When the sole (1) is in the horizontal initial position, the first connecting rod (33) and the second connecting rod (34) are arranged in cross on the plane projection perpendicular to the horizontal rolling shaft (11) and form a cross angle α, and the cross angle α is greater than or equal to 10° and less than 90°.

4. The multi-degree-of-freedom robotic footpalm structure of claim 3, wherein, The optimal range of the cross angle α is 15°-45°.

5. The multi-degree-of-freedom robotic footpalm structure of claim 3, wherein, The effective length L1 of the first connecting rod (33) and the effective length L2 of the second connecting rod (34) satisfy L1 / L2 = 0.8:1-1.2:

1.

6. The multi-degree-of-freedom robotic footpalm structure of claim 1, wherein, The center through hole is arranged in the center of the second gear (32), the output end of the second driving unit (42) is located in the center through hole and protrudes from the center through hole, there is a gap between the output end of the second driving unit (42) and the center through hole, when the flange (35) is installed on the output end of the second driving unit (42), there is a gap between the flange (35) and the end face of the second gear (32), so that the flange (35) and the second gear (32) are arranged in parallel in space.

7. The multi-degree-of-freedom robotic footpalm structure of claim 1, wherein, The connecting part (13) is installed on the second gear (32) and protrudes from the end face of the second gear (32), and one end of the first connecting rod (33) is hinged on the connecting part (13).

8. The multi-degree-of-freedom robotic footpalm structure of claim 1, wherein, The first driving unit (41) and the second driving unit (42) are both servo motors.

9. The multi-degree-of-freedom robotic footpalm structure of claim 1, wherein, The transmission ratio of the first gear (31) and the second gear (32) is 1:1-1:

3.

10. A method of controlling a multi-degree-of-freedom robotic foot sole drive, characterized by, The method comprises the following steps: S1, the robot controller receives the motion instruction of the remote controller, the motion instruction includes target motion direction and amplitude; S2, the robot controller coordinates the rotation of the first driving unit (41) and the second driving unit (42) according to the motion instruction to realize the driving control of the robot foot, specifically as follows: When it is needed to realize the lifting of the foot (1), the first driving unit (41) is controlled to drive the first gear (31) to rotate, the first connecting rod (33) is driven to move through the meshing transmission of the first gear (31) and the second gear (32), and the foot (1) is driven to lift and rotate around the hinge point connected with the leg structure (2), When it is needed to realize the pressing of the foot (1), the second driving unit (42) is controlled to drive the flange (35) to rotate, the second connecting rod (34) is driven to move, and the foot (1) is driven to press and rotate around the hinge point connected with the leg structure (2).

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