To provide a legged mobile robot which is structurally simple and can be inexpensively equipped with a tiptoe part on a foot.

The legged mobile robot 1 includes an upper body 3, two legs 2 connected with the upper body 3 via a joint to be capable of driving, and the foot 22 connected to a tip of the leg 2 via a joint to be capable of driving. The foot 22 has a sole 100 serving as a ground contacting part of the foot 22. A curved part 112 thinner than the tiptoe part 102 is formed entirely laterally at a constant distance from a tiptoe 110 of the sole 100.