To provide a walking robot and a walking control method of the walking robot capable of suppressing generation of uneven wear of a foot bottom material and suppressing progress of the uneven wear even when the uneven wear occurs.

The walking robot 1 having an upper body 15 and two or more leg parts 10R, 10L moves by walking using the leg parts 10R, 10L. The walking robot has ankle joints 13R, 13L of the ankles of the leg parts 10R, 10L, and an initial grounding position set part (a controller 16) setting the initial grounding position of the foot bottom during walking by angles of the ankle joints 13R, 13L. The initial grounding position set part repetitively changes the initial grounding position.