A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.