Robot foot end grounding detection method and device, computer equipment and storage medium

The invention relates to a foot end grounding detection method and device, computer equipment and a storage medium. The method comprises the steps that the joint angular speed and the joint driving torque of a robot are obtained; according to the joint angular velocity, the joint driving torque and a joint external torque prediction model, a predicted joint external torque is obtained; according to the predicted joint external torque, a foot end stress value of the robot is obtained; according to the foot end stress value and a preset foot end grounding threshold value, foot end grounding detection is conducted on the robot. According to the embodiment of the invention, the predicted joint external torque obtained through the joint external torque prediction model is smooth and burr-free for the condition that the road surface is rugged and complex, the misjudgment of the robot foot end ground contact detection is reduced, and the accuracy of the robot foot end ground contact detection is improved. 本申请涉及一种足端触