The present invention provides a miniaturized standing-up motion auxiliary robot (1), comprising a robot body (2), wherein the robot body comprises a base portion (20), a shaft portion (21) telescoping up and down, and a platform (22), the platform is provided with a platform body (220) capable of longitudinally swaying, and elbow disposing portions (221L, 221R) and handle portions (222L, 222R) configured at both sides of a swaying center. In the standing-up motion auxiliary robot (1), when the elbow portions of an auxiliary object (M) is disposed the elbow portion disposing portions and the auxiliary object holds the handle portion, the platform body is allowed to sway to reach to the gravity (G) of the auxiliary object and approach the increasing preparation position of the shaft portion, and the shaft portion extends at the increasing preparation position, thereby assisting the standing-up motion of the auxiliary object.
