The present invention provides a biped (two-footed) walking humanoid robot easily capable of such full body movement as, for example, protective action when tumbling down, arising action and rolling action. The body part (11) is configured with a waist part (11b) below, a breast part (11a) attached biaxially movably to said waist part, and a drive means (11d, 11e) to move said breast part biaxially, and a controller (50) makes full body movement performed by drive controlling each drive means in mutual coordination. A walk controller (50) drive controls each drive means in mutual coordination, whereby moving the breast part (11a) biaxially with respect to the waist part (11b), namely moving longitudinally or rotating horizontally, and thus makes it possible to move totally the upper part configured with the breast part and arm parts with respect to the lower part configured with the waist part (11b) and leg parts (12) by so-called stoop forward and twisting of a waist. Therefore, protective action when tumbling down, arising action, and rolling action are made possible. Also in case that full body movement is to be performed with the walk controller driving arm parts (13) and the breast part (11a) and utilizing the weight and the moment of inertia of these arm and a breast parts, a walk controller not only drives each part by each drive means, but also moves or rotates arm and a breast parts with respect to the waist part (11b), utilizes the weight and the moment of inertia of arm and a breast part with respect to the waist part, and thus makes it possible, for example, to jump. Further, balancing motion can be performed by utilizing such weight and moment of inertia of arm and breast parts, and by conducting three dimensional compensation of the motion utilizing the upper body.