Kangaroo　can　keep　its　body　balance　by　swinging　its　tail.　This　paper　designs　a　bionic　kangaroo　robot　that　imitates　the　body　structure　of　kangaroo　and　studies　its　balance　control　method　during　its　stance　phase.　The　robot　is　modeled　as　an　inverted　pendulum　model　and　a　multi-rigid-body　dynamics　model　of　the　robot　is　established　using　Lagrange　method.　A　sliding　mode　controller　(SMC)　for　stance　balance　control　is　designed　based　on　adaptive　exponential　reaching　law.　Simulation　analyses　are　performed　and　results　show　that　this　adaptive　controller　have　a　good　performance　with　fast　convergence　speed　and　weakened　chattering　phenomena.　©　2017　IEEE.