The application relates to a control method for dynamic walking of a
biped robot and the
biped robot, and belongs to the technical field of
robot control, which comprises the following steps: 1, a self-recurrent cerebellar model neural network is used to establish a dynamic model of the
biped robot with a disturbance term, and dynamic robust walking of the biped
robot is converted into a problem of realizing stability of a multi-input multi-output
nonlinear system with a bounded uncertain term; 2, an adaptive self-recurrent cerebellar model neural
network error observer is designed to estimate an error upper limit; 3, an adaptive law of network weight is designed to realize real-time updating of the network
weight space and to adjust parameters of each
learning factor; and 4, a boundary value
estimation algorithm is used to compensate for an
estimation error and feedback to a
robot walking
system, so that the biped robot can realize asymptotic stable walking. The application enables the
control system to adapt to time-varying characteristics of the biped walking
system on line, and has continuous learning and
adaptive capacity for unknown dynamics.