Sixteen-degree-of-freedom quadruped robot motion control method based on trot gait

The invention relates to a motion control method for a sixteen-degree-of-freedom quadruped robot based on trot gaits. The method comprises the following steps: acquiring a corresponding gait time sequence diagram; according to the established kinematics model of the sixteen-degree-of-freedom quadruped robot, the speed corresponding to the pose at the current moment is obtained, and meanwhile the expected pose is obtained; according to the speed corresponding to the pose at the current moment, solving second derivatives of a support phase and a swing phase of the pose at the current moment through a proportional-differential algorithm; and according to the established kinetic model of the sixteen-degree-of-freedom quadruped robot, the second derivatives of the supporting phase and the swinging phase are converted into joint torques reaching the expected pose, the joint torques are executed, and the steps are cycled. Compared with the prior art, the sixteen-degree-of-freedom robot control system has the advanta