Double-detection-structure actuator and robot

The embodiment of the invention provides an actuator and a robot, and the actuator comprises a driving unit which comprises a driving motor, the middle part of the driving unit is provided with a follow-up shaft in a penetrating manner, and the follow-up shaft is fixedly provided with an output end input gear; the output unit is in transmission connection with the follow-up shaft; the rotor linkage shaft is rotatably arranged on the follow-up shaft in a sleeving manner, one axial end of the rotor linkage shaft is in driving connection with the driving motor, and a motor end input gear is fixed in the circumferential direction of the rotor linkage shaft; the output end detection gear is rotatably arranged on one side of the follow-up shaft in the radial direction and is in transmission connection with the output end input gear; and the motor end detection gear is rotatably arranged on the other side of the follow-up shaft in the radial direction and is in transmission connection with the motor end input gear.