The invention belongs to the field of robot technique, in particular to a low power dissipation and dual-feet walking moving system and a walking control method. The invention provides a walking controller (20) used for the dual-feet walking moving system; wherein, a logic state judging unit (22) detects the signal value of a switch which is arranged at a vola and a knee patella by a walking statedetection unit (21), thus controlling the loosening or locking of brake devices (14L and 14R) which are arranged at the knee joint; meanwhile, an intermittent and parametric open-ring oscillation moment is exerted at the hip joint, thus leading a thigh swing to drive a calf swing to advance naturally. By changing the parameter of an oscillation moment parameter unit (25), the system can adjust the step and the stepping speed on line, and realize the conversion of the walking modes. The walking control system and the walking control method sufficiently utilize the passive characteristic and the self-stability characteristic of the dual-feet walking and have the advantages of natural and energy-saving walking gait, simple control method and low manufacture cost.