The aim of this study was to stabilize the posture of a two-wheeled walker in a torque saturated situation during turning. A two-wheeled walker increases the torque of one of the wheels during a turn, which may result in the torque saturation. There was a problem that the posture stability could not be maintained due to this torque saturation. Therefore, this paper proposes to generate a torque reference value in a torque saturation situation when a two-wheeled walker is turning. The simulation in the proposed method was compared with the case without considering the torque saturation. The simulation results showed that both the posture stability and the turning performance were improved. This indicates that the generation of the torque reference value considering the torque saturation is effective. And, we also propose a method to make the two-wheel walker stand still.