Motion planning system for biped robot

The invention relates to a motion planning system for a biped robot. The motion planning system comprises a robot controller and an action actuator, wherein a control signal output end of the robot controller is connected with a signal input end of the action actuator; a signal output end of the action actuator is connected with a signal input end of each joint motor for driving each joint to move; and a signal output end of a falling detection module for detecting the motion station of each joint is connected with a signal input end of the robot controller; the falling detection module is used for acquiring posture information of the robot in real time by using an acceleration sensor; an action storage module is used for storing an action scheme obtained by an action generation module; and the action actuator is used for executing storage action. According to the motion planning system disclosed by the invention, an action module is triggered by closed-loop feedback according to a standing mode of human beings after falling; the motion plan is carried out on corresponding joints of the robot; the stable standing after falling is realized; and upper limbs of the robots are effectively utilized in the action plan, and thus the adaptability of the robot to a complex environment is enhanced.