In order to solve the problem of fixingend of pneumatic artificial muscles (PAMs) and the sensor can not be installed in parallel axis,which further affects the precise modeling and servo control of the pneumatic robot,as well as for more realistic bionics by pneumatic,bionic joints which were actuated by single joint PAMs,bi-articular joint PAMs and pneumatic cylinders (PCs) were proposed as basic configuration,serial,parallel and hybrid humanoid joint with flexible redundant,flexible robot formed by single joint PAMs and bi-articular joint PAMs with pneumatic artificial muscle,rigid robot formed by single joint PCs,bi-articular joint PCs,flexible-rigid hybrid robots formed by PAMs,PCs and mechanism of mechanical construct,were designed.It provides new ideas for pneumatic robot in the future.