Gecko-imitated robot mechanical structure and robot thereof

The utility model discloses a gecko-imitated robot mechanical structure and a robot thereof, which belong to the field of specialized robots. The gecko-imitated robot mechanical structure is characterized by comprising a robot body frame, four limbs and a passive tail, wherein each limb mounted on the robot body frame sequentially comprises a two-degree-of-freedom hip joint, a thigh connecting rod, a single-degree-of-freedom knee joint, a shank, a passive three-degree-of-freedom ball hinge ankle joint and a foot. Each two-degree-of-freedom hip joint consists of a hip joint leg lifting steering engine (11) and a hip joint leg swinging steering engine (12); the hip joint leg lifting steering engines (11) control the limbs to rise or fall down; the hip joint leg swinging steering engines (12) control the limbs to swing forwards and backwards; and each single-degree-of-freedom knee joint consists of a knee joint steering engine (13). The gecko-imitated robot mechanical structure is reasonable in arrangement of the position of each degree of freedom of each leg and realizes excellent capacity of the robot moving on ground and wall surfaces by adding force sensor feedback control.