A legged robot includes: a body; a leg portion; a foot portion; a falling direction detection unit that detects a falling direction of the body; a control unit; and a distance detection unit that detects a distance between a sole of the foot portion and a road surface. The distance detection unit includes at least three distance sensors provided on the sole, and the control unit includes distance sensor selecting means for selecting a distance sensor and gait data correcting means for correcting gait data based on a detection signal from the distance sensor selected by the distance sensor selecting means. The distance sensor selecting means selects three distance sensors among the distance sensors based on a detection result of the falling direction detection unit.