Foot structure of biped robot and all-terrain pavement adaptation method thereof

The invention relates to a foot structure of a biped robot and an all-terrain pavement adaptation method thereof. When the biped robot adopting the foot structure walks on a non-flat road surface, active adaptation can be conducted according to the actual terrain of the road surface, the corresponding posture is adjusted in time, the standing and walking stability of the biped robot is rapidly andeffectively improved, and the problems, for example, that when the biped robot walks on the uneven road surface, the foot ground contact area is small, and overall balance is difficult to maintain are solved. According to the all-terrain road surface adaptive foot structure, the foot bottom is divided into four areas, and the four areas are independently stressed and deformed, so the foot of therobot is kept in good contact with the ground on the uneven road surface; and meanwhile, the situation that the foot touches the ground is obtained through the force measuring sensors distributed in the four areas of the foot,