This research aims to develop a quadruped robot that can walk on horizontal and vertical planes with a minimum of actuators. Focusing on the motion of lizards that move quickly by utilizing the flexion of torso than legs, a lizard-type quadruped robot using a crossed four-bar linkage mechanism is developed. In addition, to achieve adsorption to a wall surface, a suction mechanism is applied. The motion of the experimental robot is verified through experiments.