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本文就两足步行机器人动态步行实时控制中的姿态稳定性问题进行研究，运用李亚普诺夫方法证明了当机器人踝关节采用小力矩控制时其余各关节角运动轨迹跟踪控制的稳定性，并给出了各关节控制器设计的约束条件，为姿态控制器的设计奠定了理论基础。
In this paper, the problem of attitude stability in real-time control of two-legged walking robot with dynamic walking is studied. By using Lyapunov method, the stability of trajectory tracking control of the rest joints is proved when the robot’s ankle joint is controlled by small moment. The constraints of the joint controller design, laid the theoretical foundation for the design of the attitude controller.