Integrated ankle-foot system for improving walking stability of biped robot

The invention discloses an integrated ankle-foot system for improving walking stability of a biped robot. The integrated ankle-foot system comprises a robot shank and ankle drive transmission system, a two-degree-of-freedom ankle joint, a bionic design foot and a foot sensing and data processing module, wherein the ankle drive transmission system is integrated in the internal space of a shank, the foot sensing and data processing module is integrated in a foot body, and the whole system is compact in design and high in integration degree. The foot part comprises a half sole passive joint and a heel buffering module, the road surface impact on the foot part can be effectively buffered, human gait-simulated walking is achieved, and the stability and the movement capacity of the robot are improved. A parallel linear driving system is integrated at the shank of the system, so that the ankle drive performance is ensured, and meanwhile, the exposure of parts of a driving transmission system is reduced. Various sens