A robot control method controls walking of a robot. The method generates control information based on postures at a plurality of differing points. The differing points include a reference posture in which the robot is standing independently without falling over. The method controls the robot to carry out a walking operation and detect an obstacle in a place in which a robot leg lands. The method also instructs the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and to bend the supporting leg by an amount while extending the swing leg by the amount.