Disclosed herein is a control method of a wearable robot, including: generating reference gait data based on the results of sensing by a sensor unit included in a structure; estimating, when a wearer walks, the wearer's gait phase based on the results of sensing by the sensor unit; detecting a gait phase having a minimum difference from the estimated gait phase from the reference gait data; and driving a driver of the structure, according to a control signal generated based on the estimated gait phase and the detected gait phase.