An objective of the present invention is provide an assistance robot which allows a person to be assisted to stand up without discomfort. A control device of the assistance robot: acquires a weight distribution from a detection device (acquisition unit: step S204) derives, from the weight distribution which is acquired by the acquisition unit, a center of gravity position of a person to be assisted in a fore-aft direction (center of gravity position derivation unit: step S206) and, when standing up the person to be assisted when seated and supported by a holding unit, controls an actuator and causes the holding unit to move such that the center of gravity position derived by the center of gravity position derivation unit falls within a first prescribed range (first control unit: steps S208-214).
