Design method of under-actuated humanoid robot paw and other fingers

The invention discloses a design method of an under-actuated humanoid robot paw and other fingers, the robot paw designs a thumb side-sway joint for a thumb, a common grabbing function of a human hand is realized with a small number of driving devices, complex grabbing operation can be carried out, and all the driving devices of the paw are self-locked, so that the under-actuated humanoid robot paw is convenient to use. After the gripper grabs an object, the driving device does not need to work continuously, so that the energy consumption of the robot gripper is reduced; a single-degree-of-freedom multi-connecting-rod mechanism is adopted for the finger part, a driving device of the single-degree-of-freedom multi-connecting-rod mechanism is located on the palm part, the under-actuated movement scheme is more reasonable in arrangement, the finger size is smaller, and the sensor arrangement space is larger; the fingertip pressure sensor is arranged in the paw, the pressure is detected through the movable far-se