Foot-type robot single-leg device and foot-type robot

The invention discloses a foot-type robot single-leg device and a robot. The foot-type robot single-leg device and the robot are used for solving the problems that an existing foot-type robot single-leg structure is complex in structure and high in cost. The foot-type robot single-leg device comprises a hip part, a thigh part and a shank part. The hip part and a hip driving mechanism are connectedthrough a hip connecting piece to form a hip joint; the hip part and the thigh part are connected through a first rotating pair to form a crotch joint; the thing part and the shank part are connectedthrough a second rotating pair to form a knee joint; the hip part is connected with the thigh part through a hip-leg connecting piece; the hip part is driven by the hip driving mechanism, thus the thigh part rotates around the X-axis, and the thigh part is driven by a crotch driving mechanism to rotate around the Y-axis; a knee driving mechanism on the thigh part is connected with the shank partthrough a shank connecting