A walking support robot of the present disclosure is a walking support robot that moves in accordance with a handle force while supporting walking of a user. The walking support robot includes a body, a handle that is on the body and is held by the user, a sensor that senses a force applied to the handle, and a moving device that includes a rotating member and moves the walking support robot by controlling rotation of the rotating member in accordance with the force sensed by the sensor. The walking support robot estimates a leg position of the user on a basis of a change of the force sensed by the sensor, and sets a load to be applied to the user on a basis of the leg position.