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The dynamical system is a \\(2n\\)-dimensional stochastic differential equation in the sense of It\u00f4:  \\[  x_t = x_0 +\\int_0^t (Ax_s+B(u-H(x_1)^{-1}(C(x_1,x_2)x_2+\\tau_g(x_1)))) ds +\\int_0^t C g(x_s^1,x_s^2) dw_s  \\]  where \\(A,B,C\\) are fixed matrices, \\(H(\\cdot)\\), \\(C(\\cdot)\\), \\(\\tau_g(\\cdot)\\) and \\(g(\\cdot)\\) nonlinear functions defined in terms of the dynamics of the robot. The state feedback stabilizing law is given by  \\[  u(x) = H^{-1}(x^1)\\tau_g(x^1)+\\overline{F}x  \\]  with \\(\\overline{F}\\) well chosen. To prove this result, the author explicitly constructs a Lyapunov function and then invokes the stochastic version of the Lyapunov 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