The invention discloses the foot of a
humanoid robot and a control method of the foot of the
humanoid robot. The foot of the
humanoid robot is characterized in that an upper disc body is arranged to serve as an
ankle bone, the rear end face of the
ankle bone is a plane, the front end face of the
ankle bone is in a V shape when the front end face of the
ankle bone is overlooked, an outer front end face body and an inner front end face body are symmetrically arranged on the V-shaped front end face, the
ankle bone is supported in a three-force-point mode through three rod pieces on the rear end face and the front end face of the
ankle bone, the three rod pieces refer to a
heel bone, an inner metatarsal bone and an outer metatarsal bone, a rear planta pedis stress triangle is formed with the lower end of the ankle bone as a rear vertex and a point head facing backwards, and the upper end face of the ankle bone is connected with the lower limbs of the
robot through ankle joints. According to the foot of the humanoid
robot and the control method of the foot of the humanoid
robot, linear driving devices are arranged on the lower limbs of the robot, all components are driven through flexible ropes according to set actions, and thus rotation of the
foot joints of the robot is driven and controlled.