The invention relates to the technical field of blind guiding
robot gait stability control, and particularly discloses a blind guiding
robot gait stability control method fusing IMU and foot end force
perception, and the method comprises the steps: collecting three-dimensional
point cloud data through a head depth camera, analyzing topographic features, and generating topographic safety confidence; the physical rigidity of the
dielectric elastomer ankle joint is further adjusted; in the single-foot supporting stage,
plantar pressure and
trunk inertia data are synchronously collected, a real-time plantar interaction snapshot is generated, and when the
instability risk is detected, the
ankle joint rigidity is immediately locked to
resist abnormal rotation; then, the
plantar pressure abnormal direction is recognized, and the
mass center compensation adjustment amount is calculated to stabilize the
body posture; and finally, according to the amplitude and frequency of
mass center compensation, evaluating the matching degree of the
gait strategy and the
road condition, dynamically adjusting the stride and the leg lifting height, and generating optimized gait parameters. The invention aims to improve the walking stability and safety of the
robot in a complex environment.