Humanoid robot jumping landing state detection system and method

The invention provides a jumping landing state detection system and method for a humanoid robot, and belongs to the technical field of humanoid robots. According to the method, the joint control torque required by each joint of the robot in the air is calculated according to the current motion state of the humanoid robot, so that the expected control current of each joint of the humanoid robot is obtained, and when the humanoid robot completes expected motion, according to the expected control current of each joint, the error between the expected control current and the actual control current of each joint is obtained, when the error value is larger than an allowable value, it is judged that the humanoid robot makes contact with the ground, and the motion controller generates a new expected motion angle. According to the method, the landing state of the robot can be accurately obtained, the motion stability control over the humanoid robot after landing is completed, and meanwhile the control over robot motion