Robot and control method thereof

The embodiment of the invention discloses a robot and a control method thereof, and belongs to the technical field of robot control. The method comprises the steps of acquiring the angle between a plane where the robot is located and a horizontal plane; acquiring the direction vector of the robot on the plane, wherein the direction vector is used for representing the motion direction of the robot on the plane; determining a deflection angle of the robot on the plane based on the direction vector and a normal vector of the plane; and controlling state parameters of the robot based on the angle and the deflection angle, wherein the state parameters include at least one of a position of the robot body in a preset coordinate system and the posture of the robot body. Therefore, a technical problem that in the related technology, the robot cannot keep balance on a slope, and meanwhile the obstacle crossing capacity of the robot cannot be guaranteed can be solved. 本申请实施例公开了一种机器人及其控制方法，属于机器人控制的技术领域。其中，该方法包括：获取机器人所在平面