Six-degree-of-freedom flexible spine of foot type robot and variable stiffness damping control method thereof

The invention relates to a six-degree-of-freedom flexible spine of a foot type robot and a variable stiffness damping control method of the six-degree-of-freedom flexible spine of the foot type robot, and the flexible spine comprises a front supporting frame (2), a rear supporting frame (3) and a rear supporting frame (4), the rear support frame (5) is provided with a second spherical hinge base (4-2); the two ends of each hydraulic damping actuator (3) are connected with the first spherical hinge base (4-1) and the second spherical hinge base (4-2) respectively; each hydraulic damping actuator (4) is obliquely arranged between the front supporting frame (2) and the rear supporting frame (5), and the adjacent hydraulic damping actuators (4) are arranged in a mirror symmetry mode. And the hydraulic damping actuator (4) comprises an oil cylinder actuating part and a damping part which are connected with each other. Compared with the prior art, six-degree-of-freedom movement such as relative torsion, swinging an