A walking control device (30) for a bipedal walking type moving device comprises force sensors (23L, 23R) for detecting forces on the soles of feet (14L, 14R) for drive−controlling driving means for the joints (15L, 15R − 20L, 20R) of the legs of the bipedal walking type moving device in the basis of gait data, and a compensation section (32) for correcting gait data from a gait producing section (24) on the basis of horizontal floor reaction components of the forces detected by the force sensors, wherein each force sensor (23L, 23R) is composed of three−axis force sensors disposed in the plurality of divisional areas of the sole of each foot (14L, 14R).
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