Method for planning body swinging amplitude of foot type robot on basis of supporting field position feedback

The invention relates to a method for planning body swinging amplitude of a foot type robot on basis of a supporting field position feedback and belongs to the technical field of robot moving control. The method provided by the invention has the advantages that (1) a linear planning method is adopted for sequentially solving lateral swinging positions, so that the control effect is excellent and the calculating method is simple; (2) the planning method is respectively provided for the conditions of three-leg supporting and four-leg supporting, so that the continuity of treading is ensured, namely, the longitudinal moving speed is ensured; (3) according to the method selected during the process of designing the leg swinging sequence, larger stability margin can be ensured; (4) during the process of designing a treading period, the time scale factors with switching states are introduced, so that the treading time is flexible and variable and the adaptability is strong.