According to a legged mobile robot of the present invention, a variable measuring portion 101 measures the changing amount of a secondary desired angle .theta..sub.T2, namely, of the newest primary desired angle .theta..sub.T1 that is received by a first sub-control unit 121 as a variable .delta.. When a determining portion 102 determines that an absolute value of the variable .delta. exceeds a threshold .epsilon., a correcting portion 103 corrects a motor current I so as to inhibit the changing amount of the motor current I. Thereby, even when an abnormality is temporarily generated in the communication between a main control unit 110 and a first sub-control unit 121 via a first communication line and the absolute value of the variable .delta. exceeds a threshold .epsilon., the current supply I to a motor 131 is inhibited from changing rapidly.