An apparatus walking with two legs capable of reliably controlling walking even when a landing position is predetermined such as on stepping stone or when striding over an obstacle or going under an obstacle by compensating the ZMP target value without modifying the operation traces of joint portions. The apparatus walking with two legs includes a walking pattern generation block (24) generating walking pattern data including a target angular orbit, a target angular velocity, and a target angular acceleration, and a walking control apparatus (30) for driving and controlling according to the walking pattern data. A ZMP compensation block (36) is provided so as to compare the ZMP measured value in each of the legs (14L, 14R) with a ZMP target value calculated according to the walking pattern data from the walking pattern generation block and correct the target angular velocity and angular acceleration of the walking pattern data from the walking pattern generation block, thereby compensating the ZMP target value.