Abstract: Today, most researchers in the field of robot research has focused on legged robots.The biggest advantage of these robots is capability that can pass through areas have a lot of ups and downs like a man. The aim of this study is simulation motion of four led robot using MATLAB. At the beginning, equations of position, speed and acceleration is achieved in kinematic mode. Then, the mathematical model is formed by obtaining kinetic equations. Then, using the obtained model, transfer function of system can be determined. Using obtained transfer function, behavior of system can be analyzed and also design of controller can be changed for improving behavior of system.