Gait planning method, computer-readable storage medium and robot

A non-transitory computer-readable storage medium storing one or more programs to be executed in a biped robot, the one or more programs, when being executed by one or more processors of the biped robot, causing the biped robot to perform processing comprising:

• determining a pitch angle between a foot of the biped robot and a support surface where the biped robot stands;
• determining a support point on a sole of the foot according to the pitch angle;
• calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the biped robot to the support point;
• calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector;
• and
• obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position, and controlling the biped robot to move according to the compensated ankle position.

A biped robot comprising:

• one or more processors;
• a memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprises:
• instructions for determining a pitch angle between a foot of the biped robot and a support surface where the biped robot stands;
• instructions for determining a support point on a sole of the foot according to the pitch angle;
• instructions for calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the biped robot to a support point on a sole of the foot;
• instructions for calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector;
• and
• instructions for obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position, and controlling the biped robot to move according to the compensated ankle position.