Abstract: Proceeding from the angle of realizing smooth transition during single-double support phase and reducingshock of th forefoot contacting with the ground,this paper analyses the effect of the ankle joint control oncontinuous,smooth,dynamic locomotion of biped robot.It points out that torque feedback control shoud beadopted instead of high gain position feedback control in order to realize the smooth transition and reduceshock at the ankle joint.This paper presents the realization method of the torque feedback control.Thismethod need not be supported by complicated software or hardware,and can satisfy the demand of real-timecontrol.The stable dynamic walking of the HIT-13 biped robot has been fulfilled by adopting this method.