The　linear　model　of　flexible　two-wheeled　self-balancing　robot　that　has　been　proved　is　used　in　the　paper.　The　lumbar　of　robot　is　the　spring.　The　discrete　Hopfield　neural　network　is　used　for　controlling　robot＇s　posture　based　on　association　study.　Study　of　biological　control　method　to　realize　flexible　robot　posture　control　in　the　adaptive,　self-organizing　capacity,　the　reasonable　energy　function　is　defined　for　the　non-linear　and　strong　coupling　robot,　then　design　the　Hopfield　controller,　used　the　dynamic　function　of　flexible　robot,　which　satisfied　the　need　of　robot＇s　dynamic　process.　Analyze　the　convergence　of　the　controller.　Simulation　experiments　show　the　effectiveness　of　the　method　and　proved　the　stability　of　system.　Validity　and　rationality　of　the　system　controller　designed　are　verified　through　the　performance　experiments　of　the　prototype　and　analyzed　the　experiment　result　in　detail.　The　robot　like　the　human　being　not　only　structure,　but　also　physiological　intelligence.　©　2009　Springer-Verlag　Berlin　Heidelberg.