Pneumatic-based humanoid robot system

The invention relates to a pneumatic-based humanoid robot system. Upper limb joints are connected with a waist joint, and lower limb joints are symmetrically arranged below the waist joint; one side of a shoulder joint support of the upper limb joints is rotatably connected with a first shoulder joint cylinder, a second shoulder joint cylinder and a third shoulder joint cylinder, the other side ofthe should joint support of the upper limb joints is rotatably connected with a fourth shoulder joint cylinder, a fifth shoulder joint cylinder and a sixth shoulder joint cylinder, the first shoulderjoint cylinder, the second shoulder joint cylinder and the third shoulder joint cylinder are rotatably connected with a shoulder joint tail end plate, the fourth shoulder joint cylinder, the fifth shoulder joint cylinder and the sixth shoulder joint cylinder are rotatably connected with a connecting shoulder joint tail end plate on the other side, each connecting shoulder joint tail end plate isfixedly connected with a first elbow joint side plate and a second elbow joint side plate, a cylinder body of each swing cylinder I is fixed to each elbow joint side plate I, and a rotating shaft of each swing cylinder I is fixed to a second pulley. The pneumatic-based humanoid robot system is compact in structure, multiple in degrees of freedom, rigid and flexible in combination and large in working space and avoids joint singularity.