The invention discloses a four-freedom-degree series-parallel high-frequency mechanical
humanoid robot foot, and belongs to the field of humanoid robots.The foot comprises a mechanical shank, a tarsal skeleton, a metatarsal skeleton, parallel toes, an
ankle joint, a tarsometatarsal joint and a metatarsophalangeal joint; the mechanical shank is installed at the right end of the tarsal skeleton through the
ankle joint, the left end of the tarsal skeleton is connected with the right end of the metatarsal skeleton through the tarsometatarsal joint, and the left end of the metatarsal skeleton is connected with the parallel toes through the metatarsopphalangeal joint; the parallel toes comprise the big
toe, the
second toe, the third
toe, the
fourth toe and the small
toe, the metatarsophalangeal joint comprises a big toe gear shaft, a small toe gear shaft, a fourth motor frame and a fourth motor, the tarsometatarsal joint comprises a small metatarsal bone gear shaft, a big metatarsal bone gear shaft, a third motor frame and a third motor, and the
ankle joint comprises a small ankle gear shaft, a big ankle gear shaft, a second motor, an ankle rotating shaft, a
flange plate and a first motor.The
humanoid robot foot is reasonable in structure, has four motion freedom degrees and the high-frequency motion characteristic and is in a series-parallel mode.