<p>The present invention provides a quadruped walking robot the production costs and weight of which can be reduced by reducing the number of driving portions, and which is capable of carrying out stabilized walking motions even with the degree of freedom reduced in the leg portions. A quadruped walking robot 1 according to the present invention comprises: a horizontal swivel portion 4 disposed so as to freely swivel in the horizontal direction in the main body portion 2; a horizontal swivel driving portion 5 for driving and turning the horizontal swivel portion 4 in the horizontal direction; an upper side upper leg portion 9 rotatably axially attached in the horizontal swivel portion 4 so as to freely turn in the vertical direction; a lower side upper leg portion 11 disposed roughly parallel to the lower part of the upper side upper leg portion 9; an upper leg driving and turning portion 10 for driving and turning the upper side upper leg portion 9 in the vertical direction; a lower leg portion 13 in which the distal end part of the upper side upper leg portion 9 and the distal end part of the lower side upper leg portion 11 are axially supported vertically at the upper end portion; and a grounding portion 17 disposed at the lower end portion of the lower leg portion 13; and a resilient extension and contraction portion 12, disposed at an intermediate portion of the lower side upper leg portion 11, which resiliently extends and contracts in the lengthwise direction.</p>
