DMP-based robot workspace adaptive walking control system and method

The invention relates to a DMP-based robot workspace adaptive walking control system and method. The control system comprises: a DMP centroid track generator which generates a centroid track of a humanoid robot based on DMP training according to a planning target and feedback information; a DMP foot sole track generator which generates a foot sole track of the humanoid robot based on DMP trainingaccording to the planning target and the feedback information; and a joint mapping module which performs inverse kinematic calculation on the centroid track and the foot sole track, and uses a motionengine to map the adaptability of the workspace to a joint space, so as to achieve the adaptive walking control of the humanoid robot. The DMP centroid track generator and the DMP foot sole track generator are obtained based on the example track training study of the robot working space. Compared with the prior art, the system and the method have the advantages of adjusting the gait and body posture in real time, and enhan