Foot type robot and motion control method

The invention relates to the technical field of robots, in particular to a foot type robot and a motion control method.The foot type robot comprises a head and a trunk body connected with the head; the two leg assemblies are connected with the crotch of the trunk body, the two arm assemblies are connected with the shoulders of the trunk body, and all joints in the leg assemblies and all joints in the arm assemblies are driven by motors; wherein a battery module and a gravity center compensation device located below the battery module are arranged in the trunk body, the gravity center compensation device comprises an X-axis moving mechanism and a Y-axis moving mechanism, the X-axis moving mechanism is used for driving the battery module to move left and right, and the Y-axis moving mechanism is used for driving the battery module to move front and back; through cooperation of the X-axis moving mechanism and the Y-axis moving mechanism, movement of the battery module in multiple directions in the horizontal pla