To provide a multi-joint leg control device capable of enhancing the locating accuracy of each join leg using a low-cost speed reducer.

An external restraining force 18 in the opposite direction to the rotation of the drive shaft 15 of the speed reducer 14, or an external restraining force 18 in the same direction as the rotation of the drive shaft 15 of the speed reducer 14 and larger than the torque of the drive shaft 15 of the speed reducer 14, is loaded on a frame 17 for driving. This can eliminate the influence of the backlash of the speed reducer 14, and it is possible to enhance the locating accuracy of the joint leg.