Road surface self-adaptive posture control method for ankle of biped robot

The invention discloses a road surface self-adaptive posture control method for ankles of a biped robot. Firstly, pressure distribution of all areas of a foot is obtained through processing of a force sensor arranged at the sole of the robot; then, according to the pressure distribution of the foot area, road surface unevenness information is obtained; information is collected through a tilt angle sensor arranged on the shank of the robot, and the posture of the shank of the robot is obtained through processing; then foot inclination information is obtained according to the postures of the shanks; then, according to the road surface unevenness and foot inclination information, the motion state required for stabilizing the feet of the robot is obtained; according to the motion state, the motion angle of the ankle joint motor is obtained through calculation; finally, corresponding driving commands are sent to motors of the ankle joints, and self-adaptive control over the road surface by the feet is achieved. By