The present invention provides a control device for a mobile robot. While a mobile robot 1 is in a predetermined motion state, if a load evaluation amount, which is either the magnitude of a load detected on a particular joint or an estimated temperature value of a joint actuator for driving the joint, exceeds a predetermined threshold value, then a desired displacement amount of each joint of the mobile robot 1 is determined with a requirement that the load evaluation amount remains to be the threshold value or less, and the joint actuator is controlled on the basis of the determined desired displacement amount.