The strange pose will cause the biped robot to fall and lead to the failure of walking. Avoiding the strange pose is one of the key points in the research of robot walking control. The singular pose problem when the determinant of Jacobi matrix is zero or approaching zero is mainly studied. The singular pose of the robot can be avoided by detecting the joint angle data by the sensor and compensation. and the optimized joint angle time series can be obtained

that is to say

the walking mode of the robot can be obtained. The analysis of 3 D simulation experiment shows that the joint angle compensation method can avoid the strange posture and simulate the walking action of biped robot more realistically. Sending this walking mode to the lower personal computer can be used to control the actual robot

so that the biped robot can successfully realize the walking motion.