To provide an articulated walking device capable of reproducing motion of joint action of a person or the like by obtaining sufficient torque and being mainly applied to a multi-legged walking robot.

The articulated walking device 1 is constituted by six leg parts 4 extended from a frame body 3 of an approximately hexagonal prism shape while retaining an equal angle; and a leg part control part for controlling the leg parts 4 in order to reproduce the joint action. Further, the leg parts 4 are constituted so as to have four movable shafts. A wire laid between a pair of balloons opposed to each other and a pair of disc joint parts having a disc surface abutted on it is utilized and drawn/expanded according to inflation/contraction of the balloons. A mutual joint angle of respective frames 7 or the like connected to the disc joint part can be displaced by turning the disc joint part.