The Workgroup on System Technologies and Engineering Design Methodology at Hamburg University of Technology is currently developing the second prototype of the two-legged walking robot CENTAUROB, which consists of two serially arranged parallel kinematics (hexapods). By the patented C-shaped feet, a movement in any direction is possible, so that the robot can handle slopes as well as straight and spiral stairs. Therewith, the CENTAU-ROB represents a universal walking machine that allows many applications due to its high stability, strength, and precision. In this paper, situational motion simulations of the CENTAUROB are presented in order to illustrate the diversity of possible motions of this robot. Here, the paths of the center of mass of the individual bodies, the overall center of mass, and the projection of the overall center of mass are taken as an equilibrium criterion during one step. In addition, the necessary compensatory movements of the hip during one step and the boundaries of the working area are illustrated and discussed.