Floquet-Engineered Odd-Parity Altermagnetic Higher-Order Topology in a Two-Dimensional Antiferromagnet Cr$_2$CH$_2$

Periodic driving provides a platform to dynamically tailor quantum states of matter, yet its impact on symmetry-protected topological phases remains incompletely understood. Here, we demonstrate that periodic driving enables the realization of an odd-parity altermagnetic (AM) higher-order topological insulator (HOTI) phase in the Cr$_2$CH$_2$ monolayer. In equilibrium, Cr$_2$CH$_2$ is a 2D antiferromagnetic (AFM) HOTI protected by $\mathcal C_3$ rotational symmetry, characterized by a symmetry indicator $\chi^{(3)}$ = $\{-2,1\}$ and robust corner states. Under circularly polarized light (CPL), the system develops a f-wave altermagnetic state governed by the symmetry $[C_{2}||\overline{3}_{001}]$ with odd-parity spin splitting. Despite substantial Floquet-induced band renormalization, the $\mathcal C_3$-protected corner states remain intact over a broad range of driving strengths, highlighting the altermagnetic higher-order topology under Floquet driving. As the light intensity increases, the system gradually evolves into an altermagnetic semimetallic state. These results establish a direct connection between magnetism and topology in a periodically driven AFM system, offering a route toward the control of coupled spin and topological transport.