One-step prediction whole-body control method and device of foot type robot and foot type robot

The invention relates to the technical field of robots, in particular to a one-step prediction whole-body control method and device of a foot type robot and the foot type robotic.The method comprises the steps that motion of the foot type robot is decomposed into a plurality of subtasks related to motion according to the motion instruction requirement of the foot type robot, obtaining a reference parameter and a feedback parameter at the current moment in a task space in which each sub-task is located; according to the feedback state of the robot, each subtask related to motion is set as a one-step prediction task, all the subtasks are placed in an objective function of an optimization problem, proper constraint conditions are set in the optimization problem, and the optimization problem is solved according to feedback parameters so as to coordinate and complete all the subtasks. And generating a control instruction of the foot type robot according to the optimal solution of the optimization problem to realiz