All four are charged with armed robbery, aggravated kidnapping and home invasion.
They are: 28-year-old Antoine Larkins, 25-year-old Demorris Hill, 28-year-old Phillip Allison and 23-year-old Gregory Reedfields.
The four are accused of breaking into Walker's Chicago townhome on July 9 and using duct tape to bind the NBA player and a relative.
They allegedly stole Walker's Mercedes, cash and jewelry.
The four are next due in court Oct. 19. They are being held without bond.