Meandering movement gait control method of Pitch-Yaw structure modularization robot

Pitch-Yaw robot with a modular structure serpentine gait control method, comprising: 1) set in motion all the modules are the same cycle: Ti = T; all modules into two groups: vertical and horizontal module module; 2) setting control parameters: AV, AH, ΔΦV, ΔΦH, ΔΦHV, OV, OH, T; 3) parameters AV, ΔΦV, OV level of control modules, parameters AH, ΔΦH, OH controls the vertical module, the parameter ΔΦHV control two mathematical model of the relationship between the set of modules, the control module groups as shown in formula (1) and formula (2). The present invention provides a convenient application in robotic entity, good usability modular robotic Pitch-Yaw serpentine configuration gait control method.