Hydraulically-driven lower limb mechanism of humanoid robot

The invention discloses a hydraulically-driven humanoid robot lower limb mechanism which comprises two sets of leg structures arranged below a hip mechanism G. Each leg structure comprises a foot mechanism A, an ankle driving mechanism B, a shank mechanism C, a knee driving mechanism D, a thigh mechanism E and a hip driving mechanism F. Each leg structure has six degrees of freedom. The six degrees of freedom of the right leg comprise the hip rotation degree of freedom Rj0, the hip side-sway degree of freedom Rj1, the hip pitching degree of freedom Rj2, the knee pitching degree of freedom Rj3, the ankle pitching degree of freedom Rj4 and the ankle side-sway degree of freedom Rj5. The leg structure of the humanoid robot is light and flexible, the power density of the robot is improved, the operation efficiency of the robot is enhanced, and the working time of the robot is prolonged. 本发明公开了一种液压驱动的仿人机器人下肢机构，包括布置在髋部机构G下方的两组腿部结构，每个腿部结构均包括足部机构A、踝部驱动机构B、小腿机构C、膝部驱动机构D、大腿机构E和髋部驱动机构F，每个腿部结构均具有6个自由度，右腿的6个自由度包括髋部旋转自由度Rj0