An endoscope apparatus includes: an insertion portion including a bending portion provided on a distal end side thereof； a bending drive section that drives bending of the bending portion； an insertion shape detection section that detects an insertion shape of the distal end side of the insertion portion as insertion shape information； a curved state detection section that detects a curved state based on the insertion shape information as curve information； a plane calculation section that performs a calculation to estimate a plane for driving bending of the bending portion from the detected curve information； and a bending control section that drives bending of the bending drive section along the estimated plane.
