An embodiment of the present invention provides a robot limb and a method of driving the robot limb that can be driven more stably. Here, the robotic leg may include an ankle bracket part, a driving part, a guide bracket part, a wire, a pressing part, and a first elastic member. The ankle bracket portion is provided on the rear end of the stepping member. The drive unit is rotatably coupled to the ankle bracket unit and transmits torque to rotate the stepping member. The guide bracket part has a base block provided at an upper rear end of the stepping member and positioned below the driving part, and a guide tube connected to the base block and extending in the longitudinal direction of the stepping member. The wire is connected to the rear end of the driving unit and extends to the front of the stepping member while surrounding the lower end of the driving unit. The pressing portion is coupled to the front end of the wire. The first elastic member is provided between the base block and the pressing unit, is provided to surround the guide tube, and elastically supports the pressing unit in front of the stepping member.
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