PURPOSE: A dynamic progression control method for a robot and a system thereof are provided to simplify control by only using gyrosensor information and to enable the robot to walk stably even in an environment arbitrarily changed from outside. CONSTITUTION: A dynamic progression control method for a robot obtains a moment generated according to the stability of the walking of a robot based on the x-axis and y-axis of a gyrosensor, and comprises a measurement step changing the moment into a required additional balancing power in the z direction for a balancing maintenance, a compensation step compensating a balancing power for a driving power required in walking in a normal environment, and an application step changing a compensated driving power into a final torque required in each joint of the robot. The measurement step computes the moment of x-axis and y-axis through an angle variation and an angular speed variation which are measured based on the x-axis and y-axis of the gyrosensor and draws a balancing power through a distance in which the feet of the gyrosensor and the robot are separated based on x-axis and y-axis. The application step changes a compensated driving power into a final torque necessary for each joint of the robot by using a Jacobian transpose method. The application step changes a power into a final torque necessary for each joint of the robot through a virtual force model using a spring-damper.