Robot leg and quadruped robot

The invention provides a robot leg and a quadruped robot. The robot leg comprises a first driving unit, a second driving unit, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a first transmission belt, a second transmission belt and a first tensioning device. The first driving unit and the second driving unit are matched to achieve mutual compensation of power, so that the output torque of the driving units is effectively reduced, a smaller motor can be used for driving the quadruped robot to move, and the robot leg has an important significance on lightweight design and strong load of the quadruped robot. 本申请提供了一种机器人腿部和四足机器人，包括：第一驱动单元、第二驱动单元、第一驱动轮、第一从动轮、第二驱动轮、第二从动轮、第一传动带、第二传动带、第一张紧装置。第一驱动单元、第二驱动单元相配合实现动力的相互补偿，有效降低驱动单元的输出扭矩，可以利用更小的电机就足以驱使四足机器人运动，对四足机器人轻量化设计与强负载具有重要的意义。