Résumé : The intermittent contact with the ground is the main speci- ficity of walking robots, allowing more versatility in their displacements, but resulting in a structural instability of these systems. A walking robot, having a free-floating base, can- not control its global movements directly and must rely on the limited interaction forces in order to move. These con- straints on the movements of the robot are an obstacle to the stabilization of a trajectory. We propose then to stabilize not a single trajectory but a parametrized set qd (t, p) of all the possible trajectories, depending on the lentgth of the steps, the speed of execution... The idea is that a destabilization can be compensated by an adaptation of the walk.