Method for preventing foot-type robot from inclining leftwards and rightwards

The invention provides a method for preventing a foot-type robot from inclining leftwards and rightwards. The method comprises the following steps that the left inclination angle and the right inclination angle of the foot-type robot under a world coordinate system are sampled and processed; the gait trail of the foot-type robot is corrected, and the left inclination angle and the right inclination angle of the foot-type robot under the world coordinate system are adjusted. According to the method, an attitude sensor is used for correcting a foot-end trail function, and then the left and right stability of the foot-type robot can be enhanced; the method is simple and easy to implement, and the effect is obvious. The attitude sensor is an angle sensor, the technology of the attitude sensor is mature, and measuring is convenient; a signal filter is simple in principle, and the technology is mature; angle signals can well reflect the left and right inclination conditions of the body of the robot after being processed by a low-pass filter.