Abstract: A hierarchical and distributed computer control system for a four-legged walking robot is described in thispaper.A new on-off control strategy for position control of pneumatic systems is introduced so that onlysolenoid valves are needed in pneumatic position control system of walking robot—ROBUG Ⅱ.Then a new hi-erarchical,distributed and loosely coupled multi-computer system for ROBUG Ⅱ is proposed and implement-ed.Experiments of walking are given finally,which indicate that ROBUG Ⅱis able to climb up smooth slopeabout 65°under the control of multi-computer system described in this paper.