Aleg assembly for a robot, the leg assembly comprising: a connection assembly, configured to connect the leg assembly with an upper body of the robot; and a plantar assembly comprising a plantar plate, a first force sensor, a distance sensor, and a posture sensor, the connection assembly comprising a second force sensor and a shank connector; the first force sensor, the distance sensor, the posture sensor, and the second force sensor being electrically connected to a control unit; the first force sensor being configured to detect a normal reaction force applied to the plantar plate when the plantar plate is in contact with an obstacle; the distance sensor being configured to detect a distance between the plantar plate and the obstacle in real time; the posture sensor being configured to detect a spatial orientation of the plantar plate; and the second force sensor being configured to detect a resultant force of reaction forces applied to the plantar plate when the plantar plate is in contact with the obstacle, wherein the plantar plate is a metal structure part with a void or a groove, and the first force sensor, the distance sensor, and the posture sensor are connected to the control unit via connection wires passing through the void or the groove of the metal structure part, and a bottom and an outer side of the metal structure part are cladded with plantar rubber, wherein the first force sensor is an ionic thin-film force sensor, and the ionic thin-film force sensor is arranged between the plantar rubber and the bottom of the metal structure part, and the ionic thin-film force sensor is of a ring shape, or the distance sensor is a thin-film distance sensor, and the thin-film distance sensor is centrally arranged between the plantar rubber and the bottom of the metal structure part, and a thickness of the plantar rubber at a portion under the thin-film distance sensor is smaller than a thickness of the plantar rubber at another portion. a connection assembly, configured to connect the leg assembly with an upper body of the robot; and a plantar assembly comprising a plantar plate, a first force sensor, a distance sensor, and a posture sensor, the connection assembly comprising a second force sensor and a shank connector; the first force sensor, the distance sensor, the posture sensor, and the second force sensor being electrically connected to a control unit; the first force sensor being configured to detect a normal reaction force applied to the plantar plate when the plantar plate is in contact with an obstacle; the distance sensor being configured to detect a distance between the plantar plate and the obstacle in real time; the posture sensor being configured to detect a spatial orientation of the plantar plate; and the second force sensor being configured to detect a resultant force of reaction forces applied to the plantar plate when the plantar plate is in contact with the obstacle, the connection assembly comprising a second force sensor and a shank connector; the first force sensor, the distance sensor, the posture sensor, and the second force sensor being electrically connected to a control unit; the first force sensor being configured to detect a normal reaction force applied to the plantar plate when the plantar plate is in contact with an obstacle; the distance sensor being configured to detect a distance between the plantar plate and the obstacle in real time; the posture sensor being configured to detect a spatial orientation of the plantar plate; and the second force sensor being configured to detect a resultant force of reaction forces applied to the plantar plate when the plantar plate is in contact with the obstacle, wherein the plantar plate is a metal structure part with a void or a groove, and the first force sensor, the distance sensor, and the posture sensor are connected to the control unit via connection wires passing through the void or the groove of the metal structure part, and a bottom and an outer side of the metal structure part are cladded with plantar rubber, wherein the first force sensor is an ionic thin-film force sensor, and the ionic thin-film force sensor is arranged between the plantar rubber and the bottom of the metal structure part, and the ionic thin-film force sensor is of a ring shape, or the distance sensor is a thin-film distance sensor, and the thin-film distance sensor is centrally arranged between the plantar rubber and the bottom of the metal structure part, and a thickness of the plantar rubber at a portion under the thin-film distance sensor is smaller than a thickness of the plantar rubber at another portion.