Humanoid robot teleoperation control method

The invention provides a humanoid robot teleoperation control method which comprises the following steps: acquiring a first expected pose of the waist of a humanoid robot and a second expected pose of an end effector in a first reference coordinate system according to a control instruction; according to the first expected pose and the second expected pose, determining a target second expected pose corresponding to the second expected pose in a second reference coordinate; according to an inverse kinematics algorithm, by means of the target second expected pose, the expected pose of each joint of the mechanical arm in the second reference coordinate system is determined; and according to the first expected pose, the second expected pose and the expected poses of all the joints of the mechanical arm, a first control instruction is generated and sent. The posture of each joint of the mechanical arm can be correspondingly adjusted according to the change of the waist of the humanoid robot, and then it can be guar