PROBLEM TO BE SOLVED: To provide a technique for controlling a plurality of links in a state (Double Stance) in which the ends of both lower limb skeletons are simultaneously in contact with each other during walking control. SOLUTION: A stage of receiving a walking command of a robot including a link device including a link device composed of a plurality of links corresponding to both lower limb skeletons, and when a walking command is received, torque is applied to the link device so that one side lower limb skeleton moves. In a double stance where the bottom ends of both lower limb skeletons are in contact with each other at the same time as the moving lower limb skeleton is changed, the bottom ends of both lower limb skeletons are opposite to the walking direction. A walking control method for a robot including a step of generating a propulsive force in a double stance state by controlling a torque of a driving device so as to virtually move a predetermined stable distance in a direction is disclosed. [Selection diagram] Fig. 1【課題】歩行制御中に両側下肢骨格の端部が同時に接地した状態（Ｄｏｕｂｌｅ Ｓｔａｎｃｅ）で複数のリンクを制御する技術を提供する。【解決手段】両側下肢骨格に対応する複数のリンクから構成されたリンク装置を含むロボットの歩行命令を受ける段階と、歩行命令を受けた場合、一側下肢骨格が移動するようにリンク装置にトルクを提供してロボットの歩行を具現する段階と、移動する下肢骨格が変更されるうちに両側下肢骨格の底端部が同時に接地したダブルスタンス状態で両側下肢骨格の底端部を歩行方向の反対方向に所定の安定距離だけ仮想で移動させるように駆動装置のトルクを制御することによりダブルスタンス状態で推進力を生成する段階と、を含むロボットの歩行制御方法が開示される。【選択図】図１
