To solve the following problem: conventional walking robots with two legs are forced to have complex software for attitude control; and those with three or more legs are compelled to include more actuators, thereby having a more complex control circuit for controlling the larger number of actuators, which requires a lot of effort in its production and maintenance.

The three-legged walking robot is designed to walk on the center leg and two side legs while keeping the gravity center from moving sideways as much as possible. In addition, the number of actuators needed to control the legs at a time are reduced to the same as that needed for a two-legged robot, by making the two side legs interlocked with each other and controlled by the same actuators.