The invention provides a robot control method and a robot control device. A robot comprises a body, a front wheel arranged on a front part of the body, a middle wheel arranged on a middle part of thebody, a rocking arm rotatably connected to the middle wheel and a rear wheel connected to the rocking arm. The method comprises the following steps state parameters andor a moving distance of the robot are obtained; an inclination angle of the rocking arm is adjusted according to the state parameters andor the moving distance; the front wheel, the middle wheel and the rear wheel are controlled tomove so as to enable part or all of the body to be positioned above a step-shaped obstacle. Compared with a conventional robot of relevant technology which climbs the step-shaped obstacle only via thefront wheel and the rear wheel, the robot control method and the robot control device disclosed in an embodiment of the invention are advantageous in that part all of the body can be positioned above the step-shaped obstacle easily, and therefore the step-shaped obstacle can be stepped over.