The invention discloses a quadruped
robot motion control method and
system based on
reinforcement learning, and the method can simulate and analyze the motion behavior of a quadruped
robot in a virtual environment through building a
simulation model of the quadruped
robot, remarkably reduces the research and development cost, remarkably shortens the research and
development period, converts a balance control problem into a Markov
decision process, defines a state, an action and a reward function, and improves the reliability of the quadruped robot. A more intelligent and adaptive
balance strategy can be realized, a deterministic strategy gradient
algorithm and a
simulation model are adopted for interactive training, an efficient balance control strategy can be obtained, robot behaviors are adjusted in real time to keep balance, a walking task is decomposed into two sub-tasks of foothold selection and
gait generation by utilizing a hierarchical control idea, and the walking efficiency is improved. Through
reinforcement learning, walking flexibility and stability of the robot on irregular terrains are improved, the irregular terrains are built on a
simulation platform for experimental
verification, robot performance can be safely and repeatedly evaluated, and a strategy is further optimized.