To provide a leg wheel separation type robot capable of stably moving on irregular grounds with various topographies.

This robot comprises a pair of wheels 36, 39, a pair of front legs 11, 22, a pair of rear legs 34, 35, a step shaft mechanism 55 for adjusting a roll angle of a shell 2, actuators A1-A14 for driving the respective wheels 36, 39, the respective front legs 11, 22, and the respective rear legs 34, 35, an actuator A15 for driving the step shaft mechanism 55, angle sensors S1-S15 for detecting rotary angles of the respective actuators A1-A15, and a controller for controlling the driving of the respective actuators A1-A15 according to the signals from the respective sensors S1-S16. The controller controls the driving of the respective actuators A1-A15 according to positional information of respective leg tips found by the angular information from the respective sensors A1-A15, pitch roll angular information of the shell 2, speed and acceleration information of the respective leg tips, and shell angular deviation information, estimated step height information, and leg load assigning rate information added according to these information when needed.