The invention discloses a 
gait control method and a device for a dual-foot 
robot. The method comprises the steps of selecting 
gait control parameters for a starting period, a walking period and a stopping period; acquiring the motion trajectory of the 
mass center of the dual-foot 
robot during the walking period when the 
zero moment point of the dual-foot 
robot is within a stable area; obtaining the first value of each 
gait control parameter when the 
mass center is at the initial moment of the walking period and the second value of the 
gait control parameter when the 
mass center is at the ending moment of the walking period; setting a first constraint condition at the ending moment of the starting period by utilizing the first value, and setting a second constraint condition at the starting moment of the stopping period by utilizing the second value; based on the first constraint condition and the second constraint condition, calculating the motion trajectory of the 
mass center during the starting period and during the stopping period respectively; controlling the walking of the dual-foot robot to enable the motion trajectory of the 
mass center of the dual-foot robot during walking to meet the motion trajectory of the 
mass center during the starting period, the walking period and the stopping period respectively. According to the technical scheme of the invention, the stable cohesion of the dual-foot robot during the starting period, the walking period and the stopping period and the walking stability of the dual-foot robot can be ensured.