There is no specific single word for a brave man, so the usual word used is hero.
(The word stalwart is rarely used as a noun.)
a coward (noun): opposite = a brave person
cowardice (noun): opposite = bravery
cowardly (adjective): opposite = courageous
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Despite its -LY ending, the word cowardly is now used almost exclusively as an adjective, with the opposites brave, or valorous, or heroic.
cowardly
The comparative form of cowardly is more cowardly. The superlative form would be most cowardly.
The word gallant is used in several contexts. The opposite of gallant (chivalrous) would be rude, impolite, or discourteous. The opposite of gallant (brave) would be afraid, fearful, or cowardly. The opposite of gallant (bold) would be timid, meek, or shy.
When heroic means brave, the antonym is cowardly or fearful. When heroic means prodigious or grand, the antonym is modest. When heroic is used in literature to mean classical, the antonym is modern.
There isn't one. The word "cowardly" has a negative connotation. Words which have a similar denotation but a positive connotation might be "prudent" or "cautious".