Mechanical leg of biped robot and biped robot

The utility model relates to the technical field of robots, in particular to a mechanical leg of a biped robot and the biped robot, the mechanical leg is provided with a thigh, a shank and a sole, the thigh and the shank are hinged to each other, the sole is hinged to the lower end of the shank, the mechanical leg comprises a leg lifting driving assembly, a leg bending assembly and a sole action assembly, the driving assemblies are located on the front side and the rear side of the thigh and used for driving the thigh to swing front and back, the leg bending assemblies are located on the front side and the rear side of the thigh and used for driving the shank to conduct bending action, and the sole action assemblies are located on the rear side of the shank and used for driving the sole to pitch front and back. The action process is stable, through cooperation of the leg lifting driving assembly, the leg bending assembly and the sole action assembly, the walking requirement of the biped robot is met, the acti