Hip joint structure connected with humanoid robot and control method thereof

The invention provides a hip joint structure connected with a humanoid robot and a control method thereof.The hip joint structure comprises a connecting piece, an abduction/adduction module, an adduction/extorsion module and a forward/backward extension module, the abduction/adduction module is connected to the humanoid robot through the connecting piece and comprises a front fixing plate, a rear fixing plate and an abduction/adduction joint module, and the abduction/adduction joint module is connected to the anthropomorphic robot through the connecting piece. The internal/external rotation module comprises a coupling block, an internal/external rotation joint upper fixing frame, an internal/external rotation joint module, a limiting plate, an internal/external rotation output shaft, a 6008 bearing and an internal/external rotation joint lower fixing frame, and the front/rear extension module comprises a front/rear extension joint fixing frame, a 8008 bearing, a front/rear extension output shaft and a front/r