In this chapter, we review the new prototype of the two-legged, parallel kinematic walking robot CENTAUROB, developed at Hamburg University of Technology. The main features of this robot are its modular, symmetric structure, the construction of the legs as Stewart platforms (hexapods), and the special C-shaped feet that allow a statically stable movement at any time. The symmetric structure of the robot leads to a center of gravity exactly in the middle of the hip and prevents from a preferred moving direction or an asymmetric load of the legs. As a highly flexible walking device, the CENTAUROB is able to walk in unpaved environment, avoid and overcome obstacles, and even handle straight and circular stairs.