A walking assist device has rotational actuators that generate drive forces from electric energy supplied from batteries provided in right and left leg links. If there is a difference in the SOCs of the batteries of the two leg links, then a controller controls the rotational actuators such that the drive force of the rotational actuator corresponding to a battery having a lower SOC is smaller than the drive forces of the rotational actuators in the case where the SOCs of the two batteries are the same, while the drive of the rotational actuator corresponding to a battery having a higher SOC is larger than the drive forces of the rotational actuators in the case where the SOCs of the two batteries are the same.
