PURPOSE: To perform accurate positioning in such a manner that a walking robot will move with predetermined speed and stop upon contact of a detector with a work to move reversely with low speed while stop upon departure of detector by predetermined distance and perform positioning.

CONSTITUTION: Upon command from a controller 3, a walking robot 10 will move with first predetermined speed while upon contact of a detector 13 provided on said robot 10 against a work 2, the controller 3 will receive a signal and try to stop the robot 10 but it will run by inertia and stop. Then it is moved in reverse direction with second lower speed and upon receiving of off-signal from the detector 13, it is stopped again to perform positioning against the work 2. In order to improve the positioning accuracy, said function is repeated by required times. Consequently, accurate positioning can be performed with detection signal from only one point without knowing the fixing position of work.