Walking robot having four legs, and method for controlling thereof

PURPOSE: A quadruped robot and a walking control method thereof are provided to steadily and quickly walk similar to a dynamic walking by supporting with two legs because a center of gravity inside the robot is located in a support square in a static walking. CONSTITUTION: A quadruped robot comprises first, second, third, and fourth legs(1,2,3,4) and a control unit(50). The second leg is adjacently located to the first leg. The third leg is located in a diagonal direction to the second leg. The fourth leg is located in a diagonal direction to the first leg. The control unit controls a walking of the robot. The diagonal direction formed by the first and fourth legs is same with a direction which the quadruped robot is headed to. The diagonal direction formed by the second and third legs is perpendicular to the direction which the quadruped robot is headed to.