The invention discloses a high-frequency series humanoid four-freedom-degree mechanical foot, and belongs to the field of humanoid robots. The high-frequency series humanoid four-freedom-degree mechanical foot comprises a
tarsal bone board, a metatarsal bone board, a
toe, an
ankle joint connecting the
tarsal bone board with a mechanical crus, a
tarsal bone joint connecting the tarsal bone board with the metatarsal bone board and a
toe joint connecting the metatarsal bone board with the
toe; the
ankle joint comprises a first
ankle gear shaft, a second ankle gear shaft, a first U-shaped frame, a first motor, an ankle rotation shaft, a bearing frame, a bolt and a fourth motor; the first ankle gear shaft is perpendicular to the ankle rotation shaft; the tarsal bone joint comprises a first tarsal bone gear shaft, a
second tarsal bone gear shaft and a second motor; the first tarsal bone gear shaft is in mesh transmission with the
second tarsal bone gear shaft, and an output shaft of the second motor is connected with one end of the first tarsal bone gear shaft; the toe joint comprises a first toe gear shaft, a
second toe gear shaft, a third U-shaped frame and a third motor. The
humanoid robot foot is reasonable in structure and better in humanoid effect and has four freedom degrees, the high-frequency motion characteristic and the series mode.