A walking robot capable of easily avoiding obstructions and easily being balanced while walking. The walking robot comprises: four corner blocks for connecting each end of X-guides and Y-guides; X-travellers being capable of moving in the X-direction; Y-travellers being capable of moving in the Y-direction; an X-rod being pierced through the Y-travellers; a Y-rod being pierced through the X-travellers, the Y-rod being connected to the X-rod; X-driving means for moving; Y-driving means for moving the Y-travellers; Z-driving means for moving the corner blocks, the X-travellers and the Y-travellers in a Z-direction perpendicular to the X- and Y-directions, the Z-driving means being provided to the corner blocks, both ends of the X-rod and both ends of the Y-rod.