PROBLEM TO BE SOLVED: To realize walking, which is not the walking with an unnatural posture bending a knee but which has the same posture as the general walking of a human being in which the knee is extended by a leg side at a landing.

SOLUTION: An axis connecting an upper rotary shaft section with a lower rotary shaft section is thereby leaned outside to a vertical direction by arranging a rotary shaft around an x axis in a hip joint section 3L (or 3R) outside the rotary shaft of the x axis in an ankle joint section 5L (or 5R) with a right and a left leg sections 2L, 2R respectively. Hereby, the degree of allowances in a height direction is generated, the height can be maintained almost identically when the body 1 is moved ahead by only leaning right and left without bending the knee of the leg section in the front side, the shortening of a distance between the hip joint section 3L (or 3R) and the ankle joint section 5L (or 5R) due to the fact that the body section 1 (joint section 11) is moved ahead can be absorbed. As a result, a natural walking posture near the walking action of the human being can be attained without the need of bending a knee joint section.

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