Dynamic stair climbing control method, device and equipment for foot type robot

The invention discloses a dynamic stair climbing control method, device and equipment for a foot type robot. The method comprises the steps that a whole-body kinetic model is constructed based on basic parameter information of a target foot type robot; according to a preset local reference state, an expected operation space task of the target foot type robot is constructed, and an expected task function is obtained; adding constraint conditions for an expected task kinetic equation generated by the simultaneous whole-body kinetic model and the expected task function, wherein the constraint conditions comprise joint physical constraints and friction constraints; on the basis of a quadratic programming method, the expected task kinetic equation is optimized and solved according to constraint conditions, and joint torque is obtained; and controlling the target foot type robot to dynamically climb stairs according to the joint torque. The technical problems that in the prior art, a design method is complex and po