METHOD FOR CONTROLLING BIPED ROBOT, BIPED ROBOT, AND READABLE STORAGE MEDIUM

A method for controlling a biped robot includes: acquiring a support phase of the biped robot in a current state; acquiring a current forward speed and a current lateral speed of a center of mass of the biped robot at an end of the support phase; acquiring a torque vector of an ankle joint of a support leg of the biped robot according to the current forward speed and the current lateral speed; acquiring a target torque vector according to the torque vector and a preset Quadratic Programming (QP) model; and controlling the biped robot to move according to the target torque vector.