Single-leg jumping motion control method and device, readable storage medium and robot

The invention belongs to the technical field of robots, and particularly relates to a single-leg jumping motion control method and device, a computer readable storage medium and a robot. The method comprises the following steps: performing staged task planning on a single-leg jumping task of the robot according to each preset motion control stage to obtain a position planning result of the robot; acquiring a position measurement result of the robot, and calculating an expected acceleration of the robot in the working space according to the position planning result and the position measurement result; a single-leg jumping task equation of the robot is determined according to the kinematics relation of the robot and the expected acceleration; according to a stability constraint condition, carrying out quadratic programming solution on the single-leg jumping task equation to obtain a joint control quantity of the robot; according to the joint control quantity, the robot is controlled to conduct single-leg jumpin