Angle-controllable robot passive foot with and robot applying passive foot

The invention discloses an angle-controllable robot passive foot and a robot applying the angle-controllable robot passive foot. The angle-controllable robot passive foot comprises a rotating part and a non-rotating part, the rotating part and the non-rotating part are connected through a spring piece, so that relative movement of a foot main body is limited and a foot main body automatically returns while the degree of freedom is guaranteed; the rotating part comprises the foot main body of a human arch skeleton imitating structure; the non-rotating part comprises a leg and foot connecting piece, a fixed shaft and a positioning gear; the leg and foot connecting piece is used for connecting the leg and the foot main body of the robot; the fixing shaft is used for connecting the leg-foot connecting piece, the foot main body and the positioning gear; and the positioning gear is used for adjusting the angle between the foot main body and the leg and foot connecting piece, and the positioning gear is connected wi