This paper is conposed of two parts. One is concerned of the hardware of walking robot and the other is control system of robot. Quadruped walking robot and control system are developed for realization of static gait. Walking robot is designed commpactly with small scale and legs of robot are designed for parallel link type and able to move freely in space. Control system consists of one upper level controller and four lower level controllers. Upper level controller plans path and commands low level controllers to follow the planned path. The main function of low level cotrollers is controll of twelve motors, which operate four legs. So the constructed robot is directed to walk and realize static gait, which is wave gait.