Power type walking method of dual-foot robot

A power-typed walking method for a biped robot belongs to the technical field of robot walking control. The method is characterized in that the robot realizes fully power-typed walking similar to passive walking by rapidly swinging two legs and controlling landing collision of the swinging legs in a gait cycle T which is more than 0.2s and less than 0.5s, the robot creates a virtual slope by bending the knee joint of a swinging leg and supplements energy by straitening the knee joint of a supporting leg, each gait of the gait cycle is determined by three key frames and described by four parameters, a first derivative continuous smooth curve connects the key frames. In the experiment, single gait of the robot reaches a relative walking speed of 4.48 leg lengths per second, which improves by 29 percent compared with the record created by RunBot; moreover, a plurality of gaits of the robot realizes continuous variable speed walking from 1.24 leg lengths per second to 3.88 leg lengths per second.