The invention relates to a quadruped
robot control method and control device on the basis of a sine opposite angle
gait and a quick table look-up method. The method comprises the following steps that: (1) combining with the opposite angle
gait to analyze the leg structure of a quadruped
robot, establishing the leg movement
mathematical model of the quadruped
robot, and adopting a novel sine
gait; (2) solving a nonlinear equation set to obtain the control rate of each joint of four limbs, establishing a
database which specially faces robot
movement control, obtaining an accurate joint opening and closing angle through the quick table look-up method, and quickly and accurately realizing foot end
trajectory control; and (3) designing a foot end
trajectory control unit and a
steering control unit so as to bring convenience to the access of other control systems. On an aspect of
trafficability characteristics, the novel sine gait is designed and adopted, and therefore, and the robot owns high
trafficability when the robot faces a complex
terrain. On the aspect of operation stability, when a step taking period stops, the horizontal speed of a swing phase is zero, and therefore, the method is high in stability. The table look-up method is adopted to quickly, accurately and stably carry out the foot end
trajectory control.