A walking robot with four legs

A four-legged walking robot is provided to operate the rear legs accurately and precisely with minimum driving unit so as to minimize energy consumption required for the operation. A four-legged walking robot has a pair of front legs(30) and a pair of rear legs(20). The front legs are joined to both sides of front portion of a main body(10). The rear legs are hinged to both sides of rear portion of the main body, and include a first link(21), a second link(22), a third link(23), and a foot articulation unit(24). The first link is arranged in the vertical direction of the main body. The second link has one end hinged to the first link, and is arranged in the horizontal direction of the main body. The third link is hinged to the second link, and is arranged below the main body. The foot articulation unit is hinged to the third link and makes contact with the ground. The front legs and the rear legs operate independently of each other. A connector between the main body and the first link, a connector between the first link and the second link, and a connector between the second link and the third link are equipped with actuators. The third link is a quadric link mechanism in which ends of four links are hinged, the horizontally arranged upper link has a center hinged to the second link, and the horizontally arranged lower link has both hinges connected to the foot articulation unit.