When a swinging leg (e.g., the leg link LR) lands on road surface, a control unit 14 included in a robot 100 controls an actuator 15 driving an ankle joint 122 to make the ankle joint 122 in a leg link LR soft and changes a real angle of the ankle joint 122 according to road profile, not to follow a prespecified trajectory of target angle. Further, after the leg link LR lands, the control unit 14 corrects the trajectory of the target angle of the ankle joint 122 to cancel out a difference between the real angle of the ankle joint 122 and the target angle. Moreover, the control unit 14 controls the actuator 15 to make the ankle joint 122 hard, so that the real angle of the ankle joint 122 of the leg link LR, a supporting leg, follows the corrected trajectory of the target angle.