Abstract: In this paper,a dynamical walking of a four-legged robot is researched about the pacing gait, applying the method of the compensating angular velocity. The four-legged robot has 12 degrees of freedom,its joints are slide-follower mechanisms and its power sources of joints are servomotors. The sensors are installed on its body and feet.The walking of the four-legged robot can be controlled with the inverted pendulum model by computers.