This thesis explores the design, development, and control of a bio-inspired, two-legged modular robot capable of executing different locomotions using articulated joint motion. The robot’s structure is intentionally minimal and symmetrical, consisting of two feet, two knees, and two thigh segments connected by a central “bridge.” This configuration was chosen to achieve mechanical simplicity, stability, and balance while offering modular expandability for future enhancements such as sensors, grippers, or camera systems. Each leg can function alternately as a fixed anchor or as the moving limb, enabling locomotion that mimics the peristaltic extension and contraction. The robot was modeled and tested using MATLAB and Simscape, where different types of motion were implemented to evaluate the flexibility, effectiveness, and motion control strategies of the system.