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. The curved part 112 includes a groove 114 with a predetermined width in the fore-and-aft direction of the sole 100. The groove 114 is formed such that a width in the fore-and-aft direction of the sole 100 extends from the rear end of the tiptoe part 102 toward the front end to the middle of the tiptoe part 102.