318 results about "Robot leg" patented technology

A humanoid robot leg that may include a shank, an ankle that includes an ankle joint that is configured to perform yaw and pitch rotations, a knee joint, multiple ankle related (AR) rotational motors that are in mechanical communication, via multiple AR transmission mechanisms, with the ankle joint, and a knee related (KR) rotational motor that is in mechanical communication, via a KR transmission mechanism, with the knee joint. The multiple AR rotational motors and the KR rotational motor are positioned above the knee joint.

The invention discloses a three-degree-of-freedom series-parallel hybrid humanoid robot waist structure, and relates to the technical field of robots. The defects that an existing multi-degree-of-freedom waist structure is not compact enough, limited in precision, low in rigidity and poor in stability are overcome. The robot comprises a yaw joint mechanism and a pitching-sidesway joint mechanism which are connected in series, upper limbs and legs of the robot are connected through the yaw joint mechanism and the pitching-sidesway joint mechanism, and the yaw joint mechanism can drive the upper limbs of the robot to do yaw motion; the pitching-sidesway joint mechanism comprises a movable platform, a static platform, a joint universal joint and two joint driving assemblies, the movable platform is fixedly connected with the upper limbs of the robot, the static platform is fixedly connected with the legs of the robot, the joint universal joint is connected with the movable platform and the static platform, and the two joint driving assemblies are symmetrically arranged on the left side and the right side of the joint universal joint; and the two joint driving assemblies are connected with the movable platform and the static platform correspondingly, and when the two joint driving assemblies drive the movable platform, the movable platform can do pitching motion and / or side-sway motion around the joint universal joint.

The invention discloses a covariance self-adaptive control method for a quadruped robot for spine joint adjustment. The method comprises the following steps that 1, a spine quadruped robot kinematics model with spine joints, a robot trunk dynamics model with the spine joints and a robot leg multi-rigid-body dynamics model are established; 2, based on the energy stability margin theorem and the spine joint coupling effect, a posture control method of the spine joint quadruped robot is provided by combining a covariance self-adaptive evolutionary strategy, and the angle, rigidity and damping coefficient of spine joints are estimated and adjusted according to the terrain gradient; 3, extracting the spatial relationship between the trunk mass center and the foot ends of the robot as an expected reference, updating the expected mass center position in real time, and constructing a model prediction control method to control the posture of the spinal joint quadruped robot; 4, the position of the foot falling point of the swing leg is designed in advance in combination with the additional freedom degree provided by the spine joint and MPC prediction state information. The motion stability of the robot in the complex terrain is improved.

The invention discloses a compact humanoid robot leg structure and a robot, and belongs to the technical field of humanoid robots. In order to solve the problems that an existing humanoid robot leg is complex and redundant in structure, low in structure and form bionic degree and the like, the humanoid robot leg which is small in size, modularized, simple and compact in structure and high in structure bionic degree is provided, and the manufacturing difficulty, cost, size and total structure weight of the robot leg are reduced. The leg structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and an ankle-sole module which are sequentially connected, and three-degree-of-freedom movement of a bionic hip joint, three-degree-of-freedom movement of a knee joint and two-degree-of-freedom movement of an ankle joint can be achieved. The method can be used for humanoid robots and biped robots.

The invention discloses a robot leg structure and a humanoid robot. The robot leg structure comprises a hip joint assembly, thighs and shank assemblies, and the hip joint assembly is used for being connected to the lower portion of the trunk of the humanoid robot; the thigh part comprises a first thigh web and a second thigh web which are oppositely arranged in the Y direction, the first thigh web and the second thigh web are detachably connected into a whole, and a mounting cavity is defined between the first thigh web and the second thigh web; the hip joint assembly is rotationally connected into the mounting cavity along the lower end of the Z direction; the upper end of the shank assembly is rotationally connected to the end, deviating from the hip joint assembly, in the mounting cavity in the Y direction. A first driving assembly is arranged in the mounting cavity and used for driving the shank assembly to rotate in the Y direction. The walking stability of the humanoid robot is improved on the premise of meeting the movement flexibility of the humanoid robot.

The invention relates to the technical field of foot type robots, in particular to a robot leg structure capable of changing the rotation speed ratio and a robot. The robot leg structure capable of changing the rotation speed ratio comprises thighs and shanks, first speed changing and reducing parts are arranged on the shanks, and second speed changing and reducing parts for driving the first speed changing and reducing parts are arranged on the thighs; the variable-speed-ratio gear is arranged on the first variable-speed-reduction part and / or the second variable-speed-reduction part to form a leg variable-speed-ratio structure, so that the rotation speed ratio between the first variable-speed-reduction part and the second variable-speed-reduction part can be changed through meshing transmission of the variable-speed-ratio gear, and therefore when the robot is in a relatively upright state, the large rotation speed ratio can be provided, and the robot can be more stable in operation. The leg movement speed is high, so that the execution efficiency is high, the flexibility is high, and the speed is high; when the robot is in a squatting or sitting state, a small rotating speed ratio is provided, and therefore large output torque can be provided to meet the requirement of the scene needing large torque.

The invention belongs to the technical field of link mechanism design algorithms, and particularly relates to a humanoid robot leg four-link mechanism design optimization method which comprises the following steps: simplifying a leg mechanical structure, and abstracting a mathematical model of a four-link mechanism; establishing a kinematic model of rotation of the four-bar mechanism, and calculating a rotation angle; analyzing kinematic characteristics of the four-bar mechanism in the rotating process; and establishing alternative schemes based on different combinations of the design parameters, and screening an optimal design scheme according to constraint conditions and dynamic characteristics. According to the method, a mathematical model for solving unique design parameters is not established, but a semi-empirical method is adopted, and an optimized design scheme is screened out by traversing possible combinations and analyzing dynamic characteristics one by one. According to the method, the multi-parameter model is established based on the four-connecting-rod mechanism, an optimization scheme is screened in combination with experience, the difficulty of establishing a complex model is reduced, the efficiency is improved through establishment of a unified design process, and the universality of the method is improved through introduction of manual analysis.

Disclosed in the present invention is a local terrain perception method for a legged robot, comprising the following steps: S1, providing on a legged robot at least one LiDAR, acquiring extrinsic parameters of the LiDAR with respect to a legged robot body coordinate system, and transforming to the legged robot body coordinate system point clouds scanned by the LiDAR; S2, removing motion distortion from the point clouds, transforming same to a legged robot gravity coordinate system, and keeping the point clouds within a set range; S3, reducing the dimensionality of the point clouds to a height information matrix; S4, performing hole filling on the basis of the height information matrix; S5, on the basis of the height information matrix, removing the effect of a leg point cloud of the legged robot on the height information matrix; and S6, analyzing the processed height information matrix, and computing a slope information matrix and an obstacle information matrix for the legged robot to plan footholds and avoid obstacles. The present invention has a low degree of dependency on high-precision odometers, and can directly observe terrains beneath and around legged robot bodies, allowing for more accurate perception.

The invention relates to a humanoid robot leg structure which comprises thighs, knee joints, shanks, ankle joints and shanks. The thigh part comprises a first joint module motor and a second joint module motor; the knee joint comprises a first pull rod, a second pull rod and a connecting seat; the first joint module motor is connected with the connecting seat through the first pull rod; the shank part comprises a shank pull rod and a third joint module motor; the second joint module motor is connected with the foot through a second pull rod and a shank pull rod; the third joint module motor is connected with the foot through a shank pull rod; the foot part comprises a front support and a rear support which are connected through a foot support rotating shaft. Compared with the prior art, the humanoid robot has the advantages that the second joint module motor and the third joint module motor are located on the thigh portion and the shank portion respectively, symmetrical arrangement is not needed, module motors with larger size and torque can be arranged, and the motion ability of the humanoid robot is enhanced; the foot part comprises a front support and a rear support, and can adapt to different terrains.

The present invention provides a method for planning autonomous motion of humanoid robot legs, comprising: step S1: describing the tasks of the legs when the robot is doing an action in a world coordinate system; step S2: defining a problem to be solved, and deriving a dynamic equation of a two-link model of a humanoid leg; step S3: using a b-spline polynomial with a time scale factor to represent the robot joint torque trajectory, and incorporating its physical limitations into the formula; step S4: on the basis of the torque curve formula, by constructing a variety of objective functions, the torque curve planning problem is converted into a multi-objective function optimization problem with constraints; step S5: solving the multi-objective optimization problem on the basis of a standard dynamics model, optimizing multiple objectives at the same time, and obtaining an optimal torque curve; step S6: on the basis of the existing torque curve, designing a closed-loop control system to track the torque curve in the joint space. The present invention can expand the motor capacity of the robot and reduce energy consumption at the same time.

The invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

The invention relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, the robot leg walking mechanism comprises a plurality of big arms, one side of each big arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the big arm, and a placing groove is formed in the side, away from the big arm, of the connecting box; an air bag is fixedly connected into the containing groove, one side of the big arm is sequentially connected with an inflation assembly, a deflation assembly and an air injection assembly from top to bottom, and one side of the connecting box is connected with a closing assembly. According to the robot leg walking mechanism and the quadruped robot, by means of the floating assembly, the quadruped robot can keep floating in a deep water area, so that a robot body is prevented from being completely immersed in water, the risk that a camera lens is stained with water is reduced, and the quality and accuracy of real-time image transmission are ensured; therefore, a clear visual field and stable walking capability are provided for the quadruped robot, visual misjudgment or distortion can be reduced, and the accuracy and efficiency of inspection tasks are improved.

The present application relates to the field of robot technology, and discloses a robot leg yaw joint support structure, a robot leg structure, a robot and a humanoid robot, wherein the robot leg yaw joint support structure mainly includes a leg roll output connector, a bearing and a leg yaw joint module. The connecting flange on the docking portion of the leg roll output connector is assembled and connected with the output flange of the leg yaw joint module, and a bearing for supporting is arranged between the docking portion and the output end of the leg yaw joint module. This arrangement forms a support system between the docking portion and the leg yaw joint module, and the output flange of the leg yaw joint module also forms a support system in the reducer section inside, thereby preventing the output flange of the leg yaw joint module from being biased, thereby protecting the reducer of the yaw joint module.

The invention relates to the technical field of humanoid robots, and particularly discloses a robot leg mechanism which comprises thighs, shanks, feet, adjusting driving parts and transmission parts. Wherein the shank is rotationally connected with the thigh, and a transmission channel is formed in the shank; the feet are rotationally connected to one ends of the shanks away from the thighs; the adjusting driving piece is arranged in the transmission channel; the transmission part penetrates through the transmission channel and extends in the same direction as the shank, one end of the transmission part is in transmission connection with the output end of the adjusting driving part, the other end of the transmission part is rotationally connected with the foot, and the adjusting driving part drives the transmission part to move so as to drive the foot and the shank to rotate relatively. According to the arrangement, the number of parts is greatly reduced, the assembling procedure is saved, and the assembling efficiency is improved; meanwhile, as the robot needs to serve as a supporting structure, the structural strength is large, the transmission part is arranged in the transmission channel, even if the robot falls down, the shanks cannot deform, and the possibility that the transmission part in the robot is bent is effectively reduced.

The invention relates to the technical field of foot type robot control, and provides a robot ground touching force estimation method and system based on a high-order finite time observer, and the method comprises the steps: building a foot type robot leg dynamic model; joint positions, speeds and joint acceleration driving items are selected as state variables, and a leg state space model of the legged robot is established; according to the established state space model, step-by-step iteration of an estimated value of a state variable is utilized, a power form of a nonlinear sign function and a set gain parameter matrix are combined, a high-order finite time observer is established in a recursive mode, and estimation of the ground touching force of the foot end of the foot type robot is obtained. A high-order finite time observer is established in combination with a nonlinear sign function and a designed parameter matrix, so that a ground touching force estimation error can be converged to a certain boundary within finite time, and the problems that a traditional extended state observer is low in ground touching force estimation precision and only can estimate slowly-changing ground touching force are effectively solved.

The present invention discloses a novel closed-chain octapod robot, belonging to the field of closed-chain legged robots; it includes a frame, four walking leg assemblies, and a driving mechanism; the walking leg assembly includes a gear transmission mechanism, a deformable octapod leg mechanism, and several connecting pieces, the gear transmission mechanism includes a first gear set and a second gear set, the driving mechanism includes an adjustment servo installed on the walking leg assembly, and also includes a driving motor installed on the frame and a one-to-four belt transmission mechanism; the driving motor and the adjustment servo drive the octapod leg mechanism to swing back and forth, and the four groups of octapod leg mechanisms coordinate with each other to enable the octapod robot mechanism to perform walking actions. The present invention selects a closed-chain octapod structure as the walking mechanism of the legged robot. This solution has the advantages of few driving numbers, low energy consumption, large overall stiffness, and strong load capacity, and is an important research field for the innovation of the leg configuration of bionic robots.

The invention discloses a robot leg structure and a robot, and relates to the technical field of robots. The robot leg structure comprises a thigh part, a shank part rotationally connected with the thigh part, a sole part rotationally connected with the shank part, a first driving assembly arranged on the shank part and a first transmission structure arranged between the first driving assembly and the sole part, and the first transmission structure is used for transmitting power of the first driving assembly to the sole part. The foot sole part is driven to swing in the first direction relative to the shank part. According to the technical scheme, the flexibility of the robot is improved.

The embodiment of the invention provides a robot leg transmission structure and a robot, and the robot leg transmission structure comprises a thigh side plate, a shank assembly and a first transmission assembly; the shank assembly is rotationally connected with the thigh side plate; the first transmission assembly comprises a first connecting rod and a first linear motor with a first telescopic rod, the first connecting rod is provided with a first end and a second end which are opposite to each other, and the first end is rotationally connected with the shank assembly; the two opposite ends of the first telescopic rod in the telescopic direction are rotationally connected with the thigh side plate and the second end of the first connecting rod correspondingly. The first connecting rod drives the shank assembly to rotate relative to the thigh side plate towards the side opposite to the advancing direction of the robot, and the force arm of the acting force generated by the first telescopic rod is gradually increased. According to the robot leg transmission structure, portable and efficient walking can be achieved.

The utility model provides a robot leg structure and a robot, and relates to the technical field of robots, the robot leg structure comprises a driver, a shear fork mechanism and a horizontal supporting platform, the driver is in driving connection with the control end of the shear fork mechanism, and the horizontal supporting platform is connected with the lifting end of the shear fork mechanism; the driver is used for driving the horizontal supporting platform to move in the vertical direction through the shear fork mechanism. Compared with a traditional multi-driver structure, lifting motion of the horizontal supporting platform can be achieved only through one driver, the number of the drivers and complexity of related control circuits are remarkably reduced, and therefore the manufacturing cost and debugging difficulty of the system are effectively reduced. Moreover, the shear fork mechanism can keep the horizontal state of the horizontal supporting platform in the whole lifting process, so that the posture of the upper body of the robot is more stable, and the operation precision or stability is prevented from being affected by inclination or shaking. In addition, due to the fact that the scissor fork mechanism and the driver are simple in structure, the maintenance requirement of the system is remarkably reduced.

The invention discloses a leg structure of a biped robot, belongs to the technical field of humanoid robots, and solves the problem that the mass distribution of a series connection structure is too close to the tail end of a leg in the leg design on the basis of realizing two-degree-of-freedom rotation, namely left-right movement along an X axis and front-back movement along a Y axis. The movement of a human hip joint can be better simulated; the driver of the thigh part firstly drives the middleware, and then the middleware drives the driven part to move, so that relative sliding of the thighbone and the tibia and bending movement of the knee joint are simulated under the assistance of the middleware; the telescopic driving part of the shank part drives the universal joint to rotate at any angle in the telescopic process, meanwhile, the movable plate can conduct front-back pitching, left-right swinging and plane rotation, three-degree-of-freedom movement is achieved, the parallel structure is adopted, and better distribution of force and torque can be achieved.

A robot leg structure imitating tendon motion control comprises a thigh structure, a shank structure and a motion control assembly part, the bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, and a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure; the motion control assembly part is arranged at the top of the thigh structure or above the thigh structure, the motion control assembly part is connected with at least one tendon-imitating driving stay wire structure, and the tendon-imitating driving stay wire structure is used for controlling and connecting the thigh structure, the shank structure and / or the foot plate structure. According to the robot, the dynamic performance, the naturalness and the flexibility are good, the joint load is small, the whole leg can be slender and exquisite, the stability of the joint structure is high, the needed initial driving force is small, therefore, the power consumption can be lower, and the robot has the long-time endurance walking capacity.

The invention discloses a hydraulic humanoid robot leg structure driven by a blade swing cylinder and a direct-drive valve bank, which comprises a thigh structure, a shank structure and a foot plate structure, the thigh structure is provided with a direct-drive multi-way valve bank, the end part of the thigh structure is provided with a hip joint blade swing cylinder actuator and a hip joint yaw shaft piston cylinder actuator, and the hip joint yaw shaft piston cylinder actuator is provided with a hip joint blade swing cylinder. A knee joint pitch shaft blade swing cylinder actuator is installed at the end of the shank structure, and a piston cylinder actuator is installed on the shank structure. By adopting the hydraulic driving scheme of combining the precise blade oscillating cylinder and the piston cylinder and concentrating the servo valve group on the outer side of the thigh, the defects of the existing technical schemes of speed reducer motor driving, lead screw electric cylinders, traditional hydraulic piston cylinders and the like in high-load, high-speed movement and long-term use are successfully overcome. The lower limb structure of the humanoid robot has the characteristics of high torque output, high-speed rotation, excellent heat dissipation and durability, low electromagnetic interference and the like, and provides higher flexibility, reliability and adaptability for the lower limb structure of the humanoid robot.

The utility model discloses a leg device of a foot type robot and the foot type robot. The leg device of the foot type robot comprises a robot leg and further comprises a driving motor arranged in the robot leg, the driving motor comprises a shell, a power cavity formed in the shell and a power assembly arranged in the power cavity, and a first containing cavity is formed in the end face of the tail of the shell; a motor controller electrically connected with the power assembly is arranged in the first containing cavity, and cooling fins are arranged on the motor controller and connected with the shell in a heat conduction mode. The utility model further discloses the foot type robot which adopts the leg device of the foot type robot. The motor controller has the advantage of solving the problem that the motor controller for installing the motor in the leg of the humanoid robot is easy to overheat. The cooling fins are connected with the shell in a heat conduction mode, heat generated by the motor controller can be rapidly transmitted to the shell and then dissipated to the surrounding environment through the shell, faults caused by overheating of the motor controller are avoided, and stable operation of the motor controller is guaranteed.

The invention discloses a leg motion control method and system for a flying type double-wheel-leg robot based on active-disturbance-rejection control, and the method comprises the following steps: S1, solving a five-connecting-rod kinematics calculation formula of the legs of the robot based on the geometrical relationship of a five-connecting-rod mechanism; s2, on the basis of the five-connecting-rod kinematics solution formula, virtual model control is utilized, and the mapping relation between the force of the working space and the joint torque is obtained; s3, solving a kinetic equation of a leg mechanism of the robot by utilizing a Lagrange equation; s4, constructing an active-disturbance-rejection control model based on the kinetic equation, and dynamically optimizing the active-disturbance-rejection control model by using an RBF neural network to obtain a robot leg control model; and S5, regulating and controlling the leg movement of the robot by using the robot leg control model.

The utility model discloses a leg structure of a biped robot and a humanoid robot. The biped robot leg structure comprises a hip joint assembly, a thigh assembly, a shank assembly and a foot which are connected in sequence. The hip joint driving motor is connected with the knee joint driving motor through a connecting assembly, and the hip joint driving motor and the knee joint driving motor are coaxially arranged; the shank assembly and the thigh assembly are connected through a first ankle joint rotating motor, and the first ankle joint rotating motor serves as a knee joint rotating shaft. The first ankle joint rotating motor is located at the root of the shank assembly, and the knee joint driving motor is located at the root of the thigh assembly so as to reduce inertia of the tail ends of robot limbs. The leg structure of the biped robot is improved, inertia is made to move upwards by moving the driving motor upwards, and the flexibility and the dynamic performance of the robot are improved; the compactness of the leg structure of the biped humanoid robot is improved, the transmission angle is effectively limited, the transmission stability is improved, and the encoder and the like are convenient to maintain.

The utility model discloses a leg parallel structure of a bionic wheel-foot robot, which comprises a machine body, a support, motors and wheel feet, and is characterized in that a plurality of first motors are fixedly connected onto the machine body, spacing frames are fixedly connected onto rotating shafts of the first motors, and second motors are fixedly connected onto the spacing frames through bolts; a first support is fixedly connected to a rotating shaft of the second motor and rotationally connected with a second support through a bearing. The robot has the advantages that the occupied space is small, the layout between the two execution motors is compact, the number of structural parts is reduced, the requirement for light weight is met under the condition that the strength is not changed, and the two motors are controlled respectively and matched with each other to achieve robot control.

The invention discloses a leg joint structure of a foot type robot. The leg joint structure comprises a motor assembly, a thigh shell, a connecting rod transmission assembly, a shank and a foot end. The motor assembly drives the shank to rotate relative to the thigh through the connecting rod transmission assembly. In the connecting rod transmission assembly, a speed reduction connecting rod is introduced between a driving crank and a thigh connecting rod, so that the transmission angle of the driving crank and a next-stage connecting rod is larger, and a motor can drive a shank to move with smaller torque; by designing equal-length speed reduction connecting rods at the two ends of the thigh connecting rod, the transmission angles of a driving crank and a next-stage connecting rod as well as a driven crank and an upper-stage connecting rod in the movement process are improved; and meanwhile, two pairs of parallel pin roller structures are mounted on a thigh shell to limit a thigh connecting rod to only do translational motion, so that the leg joint structure provided by the invention has a larger space movement range before a driving crank and a driven crank reach a dead point position compared with a leg joint without introducing a speed reducing connecting rod and pin roller limiting.

The application relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, which comprise a plurality of large arms, one side of each large arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the large arm, a placing groove is formed in the side of the connecting box away from the large arm, and the air bag is fixedly connected in the placing groove; the large arm is sequentially connected with an air charging assembly, an air discharging assembly and a jetting assembly from top to bottom on one side; and the connecting box is connected with a closing assembly on one side. The robot leg walking mechanism and the quadruped robot utilize the floating assembly, the quadruped robot can float in a deep water area, the body is prevented from being completely immersed in water, the risk that a camera lens is splashed with water is reduced, the quality and accuracy of real-time image transmission are ensured, a clear field of vision and stable walking ability are provided for the quadruped robot, visual misjudgment or distortion is reduced, and the accuracy and efficiency of a patrol task are improved.

The low-inertia small robot leg structure comprises a first connecting piece, a second connecting piece and a shank, the first connecting piece is provided with a first joint motor, the first joint motor is connected with the second connecting piece, and the axis of the first joint motor is perpendicular to the axis of the second connecting piece; a second joint motor is arranged on the second connecting piece, and a thigh clamping plate is connected to the second joint motor; a third joint motor is arranged between the thigh clamping plates, the shanks are rotationally arranged between the bottoms of the thigh outer clamping plates and the thigh inner clamping plates to form knee joints, and connecting rods are rotationally connected between the positions, lower than the knee joints, of the shanks and the third joint motor. According to the leg compact structure design suitable for the small robot, the number of transmission mechanisms at the knee joints is reduced, the rotational inertia of the legs of the robot is reduced, the energy consumption intensity is reduced under the condition that the battery energy of the small robot is low, and the standby time of the small robot is prolonged.

The invention belongs to the related technical field of robots, and discloses a robot leg structure and a biped robot, a hip joint module in the leg structure comprises a side extension driving module, a turnover driving module and a pitching driving module, one ends of the three modules are installed on a hip joint installation frame in a series connection mode, and the other ends of the three modules are connected with thighs; the knee joint module is located in the containing cavity of the thigh part, the knee joint module comprises a linear driving module, the fixed end of the linear driving module is rotationally connected with the upper portion of the thigh part, the movable end of the linear driving module is in transmission connection with the top of the shank part, and the linear driving module drives the shank part to do pitching motion through linear telescopic movement; the bottom of the shank part is hinged to the foot bottom part through a cross shaft structure, and the ankle joint module is arranged on the shank part and is in transmission connection with the foot bottom part so as to complete pitching and side stretching movement. The design of hybrid driving of the linear and rotary joint modules gives consideration to the requirements of high robustness and low energy consumption of the foot-type robot in a real scene.