Multi-legged robot energy margin calculation method considering external force impact interference and damping

A multi-legged robot energy margin calculation method considering external force impact interference and damping comprises the following steps that step 1, the rotary movement of a robot is converted to a mechanical rotary system containing spring damping characteristics, and an energy margin expression of the robot is calculated; step 2, a D-H mathematical model under the Cartesian coordinate system is constructed; step 3, relevant parameters required by the energy margin of the robot is analyzed by combining the step 2. Obtained according to gravity position, virtual elastic damping and resultant moment, when the robot walks on complicated road the multi-legged robot energy margin calculation method considering external force impact interference and damping is finally used for judging whether or not the robot is likely to tumble under the effect of external force impact and self inertia moment in order to ensure that the robot walks steadily. Finally, a stable calculation method suitable for multiple terrai