Disclosed is a four-foot robot static gait planning method based on terrain fuzzy self-adaption. The four-foot robot static gait planning method based on terrain fuzzy self-adaption comprises the following steps of (1) calculating a trunk pitching angle according to foot falling position information of a robot; (2) planning a trunk movement track, and ensuring the stability of the robot in a nextstepping stage; (3) estimating the complexity of walking terrain by using the time of ground touching of two feet of the robot, and automatically adjusting parameters of truck moving track planning onthe basis of a fuzzy algorithm; and (4) completing a complete gait cycle and repeating the whole process. By means of the method, the pitching angle of a trunk can be automatically adjusted accordingto the terrain fluctuation in the walking process of the fur-foot robot, and the height and the terrain adaptability of the four-foot robot swinging feet across an obstacle are effectively increasedand improved respectively; the situation that the robot loses stability due to the fact that the speed or the acceleration is suddenly changed is effectively avoided; the self-adaption of the four-foot robot to the terrain is realized, and the terrain adaptability of the four-foot robot is effectively improved.