Active ankle type quadruped robot control method

The invention relates to an active ankle type quadruped robot control method, and belongs to the field of robot control. Comprising the steps that resultant force and resultant force distance vectors at the position of the fuselage mass center under the rigid road surface are obtained, and the minimum value of a target optimization function meeting constraint conditions is solved to obtain optimized generalized foot end expected force; obtaining a swing track of the leg through polynomial fitting on the basis of the corrected landing point posture; when the slip rate is larger than a threshold value, slip control is conducted on the robot to obtain a slip control signal and a feedback signal, and otherwise, the slip control signal and the feedback signal are set to be zero; and the robot is controlled based on the rigid road surface control signal, the slippage control signal and the feedback signal. According to the method, slippage control over the robot is achieved through slippage rate feedback, control o