A robot waist skeleton , comprising: a swing waist actuator , in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed in parallel; a first bracket , which comprises a first stand plate and a second stand plate , wherein one end of the first stand plate is rotatably connected to a case of the swing waist actuator , and one end of the second stand plate is connected to an output end of the swing waist actuator ; a bend waist actuator , in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein a case of the bend waist actuator is connected to the other end of the first stand plate and to the other end of the second stand plate ; a second bracket , which comprises a first connecting block , a third stand plate , and a fourth stand plate , wherein one end of the third stand plate and one end of the fourth stand plate are respectively fixed to two opposite sides of the first connecting block , the other end of the third stand plate is rotatably connected to the case of the bend waist actuator , and the other end of the fourth stand plate is connected to an output end of the bend waist actuator ; a rotate waist actuator , in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein an output end of the rotate waist actuator is connected to the first connecting block of the second bracket ; and a third bracket , which comprises a stand post , wherein the stand post is a hollow tubular structure, the case of the rotate waist actuator is provided with a fourth boss , the fourth boss is inserted into one end of the stand post , and the fourth boss is fixed to the stand post . a swing waist actuator , in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed in parallel; a first bracket , which comprises a first stand plate and a second stand plate , wherein one end of the first stand plate is rotatably connected to a case of the swing waist actuator , and one end of the second stand plate is connected to an output end of the swing waist actuator ; a bend waist actuator , in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein a case of the bend waist actuator is connected to the other end of the first stand plate and to the other end of the second stand plate ; a second bracket , which comprises a first connecting block , a third stand plate , and a fourth stand plate , wherein one end of the third stand plate and one end of the fourth stand plate are respectively fixed to two opposite sides of the first connecting block , the other end of the third stand plate is rotatably connected to the case of the bend waist actuator , and the other end of the fourth stand plate is connected to an output end of the bend waist actuator ; a rotate waist actuator , in which the rotation shaft of a motor and the rotation shaft of a reducer are disposed on the same axial line, wherein an output end of the rotate waist actuator is connected to the first connecting block of the second bracket ; and a third bracket , which comprises a stand post , wherein the stand post is a hollow tubular structure, the case of the rotate waist actuator is provided with a fourth boss , the fourth boss is inserted into one end of the stand post , and the fourth boss is fixed to the stand post . <EOS>