A control device 40 for a mobile robot 1 converts a moment manipulated variable ↑τ_dmd determined in accordance with a deviation between a desired value and an observed value of a predetermined state quantity of the mobile robot 1 to a rotation manipulated variable ↑Δθ by which contacting portions 13, 23 of a plurality of movable links 3, 4 to be brought into contact with an external object are to be rotated about a desired ZMP, and corrects a desired position/posture of each contacting portion 13, 23 to a position/posture rotated about the desired ZMP by the rotation manipulated variable ↑Δθ.