To prevent consumption of the joint torque by providing a robot having two-foots bodies on a lower part of a body which is long along the perpendicular direction to the yaw axis of the robot to cancel the moment around the yaw axis.

A two-foots walking robot 1 is provided with a body 2 and a body comprising two legs on a lower part of the body. The two-foots walking robot has the yaw axis, the pit axis 5 and the roll axis 6. The body 2 has a moment canceling part 7. The moment canceling part 7 cancels the moment around the yaw axis in the two-foots walking mode by the inertia moment around the yaw axis, and is long along the direction perpendicular to the yaw axis of the two-foots walking robot 1. As for the angular arrangement of the moment canceling part 7, the longitudinal axis of the moment canceling part 7 is arranged along the roll axis 6 of the robot. The moment canceling part 7 is provided with a large mass part 8 having a large mass in the longitudinal direction. The moment around the yaw axis can be canceled to prevent consumption of the joint torque.