PURPOSE: To reduce the output of actuators used for joints by disposing one leg with large weight supporting force and the other leg with large motive force, and supporting the weight of the whole device by one leg while supporting the motive force of the whole device by the other leg.

CONSTITUTION: A multiped walking device 1 is constituted by disposing pairs of front legs 3a, 3b and rear legs 4a, 4b at a frame 2. In both front legs 3a, 3b, leg members 5a, 5b are rotatably connected through knee joints 6, and grounding members 7 are disposed at the lower end parts. An attitude control rotary actuator is disposed at the knee joint 6. The upper end parts of both front legs 3a, 3b are connected to the frame 2 through crotch joints 11, and an attitude control rotary actuator is disposed also at the crotch joint 11. Both rear legs 4a, 4b are also formed almost in the same way. At the time of walking action, the weight of the multiple leg walking device 1 is supported by both front legs 3a, 3b, and the supporting leg and the idling leg are alternately switched.