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This paper proposes a new control scheme of decentralized multi-legged robot based on Follow-the-Contact-Point (FCP) gait control. In this control scheme, the first legs contact the points allocated on the terrain and the following legs touch the foot on the point which the fore leg is contacting. By creating adequate contacting points on the environment, the robot can be navigated successfully. Since the position information of the contacting points is relayed based on physical information of the legs, each leg does not need the global position of the contacting point. As a result, the proposed control scheme realizes decentralized architecture. This paper introduces the control law for the robot walking on even terrain. Finally, the result of physical simulation of 20-legged robot shows the availability of the proposed method.