Biped robot gait control method and biped robot

A biped robot comprising:

• a body;
• a first leg;
• and
• a second leg;
• wherein, the body is provided with at least one processor, a storage, and an inertial detecting unit coupled to the at least one processor;
• the first leg comprises a first six-dimensional force sensor and a first joint controller both coupled to the at least one processor, and the second leg comprises a second six-dimensional force sensor and a second joint controller both coupled to the at least one processor;
• wherein:
• the storage stores one or more computer programs executable on the processor, wherein the one or more computer programs comprise:
• instructions for obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot based on the six-dimensional force information, wherein the motion state comprises a single-leg supporting state, a single-leg swing state, and a two-legs supporting state;
• instructions for calculating a zero moment point (ZMP) position of each of the two legs of the biped robot based on the six-dimensional force information;
• instructions for determining a ZMP expected value of each of the two legs in real time based on the motion state and body posture data of the biped robot;
• instructions for obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs;
• instructions for adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time according to the compensation angle of the ankle joint;
• and
• instructions for repeating the forgoing steps at a preset frequency until a posture control and an ankle joint smoothing is performed in different motion states.