A walking robot and a control method thereof. The walking robot includes a main communication path, a subsidiary communication path, at least one master generating a communication protocol and transmitting the communication protocol through the main and subsidiary communication paths, and a plurality of slaves communicably connected to the at least one master through the main and subsidiary communication paths, increasing a value of an access counter of the communication protocol received through the main communication path, decreasing a value of the access counter of the communication protocol received through the subsidiary communication path, and forming loop-back paths connecting the main communication path and the subsidiary communication path when a communication error has occurred, wherein the at least one master judges whether or not the communication error has occurred from the values of the access counter of the communication protocol having passed through the plurality of slaves.