Biped robot design containing waist structure and feedback control method

The invention relates to a biped robot design containing a waist structure and a feedback control method. For the problem that high-torque work of ankle joints and a hip joint of a biped robot causessharp reduction of the life since the biped robot without the waist structure can stably walk by adjusting a center-of-gravity position by means of the ankle joints and the hip joint, the waist structure adding is proposed, and a waist structure design method and an optimization evaluation method are obtained through mechanics modeling and analysis; and meanwhile, in the walking process of the biped robot, a waist angle of pitch and the rollover angle are collected in real time, the robot waist gesture is online adjusted by combining a feedback control method based on waist adjusting, so thata center-of-gravity projection point of the robot is always located in a sole support polygon range. The biped robot can achieve an aim of stably walking by adjusting centroid distribution through waist feedback through the bi