The invention relates to the field of humanoid robots and provides a leg structure and a
humanoid robot. The leg structure comprises a
thigh structural part, a foot plate structural part, two
ankle joint drivers, a shank structural part and two linkage assemblies, wherein the two
ankle joint drivers are symmetrically fixed on the inner side of the
thigh structural member, and each
ankle joint driver is provided with an outward output end and an inward
tail end; one end of the shank structural part is rotationally connected to
tail ends of the two ankle joint drivers, and the other end of the shank structural part is universally and rotationally connected to the foot plate structural part; the two linkage assemblies are movably connected between output ends of the two ankle joint drivers and the foot plate structural part respectively. According to the leg structure, the two ankle joint drivers participating in forming the ankle joint are symmetrically fixed in the
thigh structural part close to the
knee joint and far away from the ankle side, so the
mass center of the leg structure can be effectively improved, the rotational
inertia of the leg structure can be effectively reduced, and torque requirements of the drivers of all joint parts of the leg structure can be correspondingly reduced.