To provide a leg-type moving robot capable of autonomously and smoothly standing up from its various overturning postures such as falling on its face, falling on its back, falling on its side or the like.

This leg-type moving robot has a degree of freedom on each roll, pitch and yaw shaft of a body part. The robot can smoothly stand up from an arbitrary overturning posture by using the degree of freedom of the body parts. The concentration of the load to a specific part can be prevented by reducing the load and the required torque to each movable part excluding the body part, and dispersing and averaging the load among the movable parts. As a result, the reliability in the operation of the robot can be improved, and the energy efficiency in a period of the standing-up operation can be improved.