Abstract: This paper explores the real-time gait control method of biped dynamic walking. Under the condition of posture control, the gait stability of walking process is discussed in detail, and the structure and the design method of gait controller are presented. Based on posture control and gait control, this paper provides a real-time T-P (Time-Position) control strategy for biped dynamic walking. The simulation results demonstrate that the proposed real-time control scheme is feasible.