Distributed dynamic modeling method for multi-leg robot

A distributed dynamics modeling method for a multi-leg robot comprises the following steps that (1) based on virtual model control, a trunk single rigid body serving as an object, simplifying legs into virtual actuator input, performing stress analysis, and establishing a single rigid body dynamics model; (2) adopting an iterative leg dynamics model resolving algorithm to establish a leg dynamicsmodel; the leg dynamic model resolving algorithm comprises the following steps: (1) taking a contact point between the tail end of a limb and the environment as a base coordinate system, and extrapolating to obtain an inertia force and a moment borne by the mass center of each rod piece; and (2) starting from the connection point of the trunk and the limbs, taking the force spinor of the limbs acting on the trunk as a controlled quantity, and performing inward pushing to obtain the interaction force spinor of the internal rod piece for realizing the controlled quantity and the contact force spinor of the limbs and the