A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.