Humanoid robot gait planning and synthesizing method

The invention discloses a humanoid robot gait planning and synthesizing method, and belongs to the technical field of humanoid robot motion planning. The humanoid robot gait planning and synthesizing method comprises the following steps that a polynomial function is adopted to represent tracks of hip joints and the tail ends of swing legs of a robot, a one-foot support period gait and a double-feet support period gait are respectively planned when the robot walks according to constraint conditions including geometric constraints, maximum stride height of the tail end of each swing leg, gait periodicity, impact effect, hip joint motions and the like when the humanoid robot walks, then the planned gaits are synthesized, and whether obtained gait tracks are stable is judged according to a zero moment point criterion. According to the humanoid robot gait planning and synthesizing method, the one-foot support period gait and the double-feet support period gait of the robot are planned and synthesized into a complete gait, the problem that collisions between legs of the robot and ground affect walking stability when the robot walks is solved, walking stability of the robot is improved, and an important effect, of the double-feet support period gait of the robot, on a complete gait period is explained at the same time.