A controller for a mobile robot which carries out task of moving an object so as to make a position of a representative point of the object and a posture of the object follow a desired position trajectory and a desired posture trajectory, in a state where distal portions of arms is made to contact a portion adjacent to one end of the object, which variably sets the position of the representative point of the object in an object coordinate system when the object is observed in the yaw axis direction, at least in accordance with the change of the desired posture about the yaw axis in the desired posture trajectory. By doing so, movement of the object appropriate for the changing pattern of the desired posture of the object is carried out.