Balance control method and device of self-walking device

The invention provides a balance control method and device of a self-walking device. The method includes the steps that according to a first parameter value of a balance state parameter of the self-walking device at the current moment, and a second parameter value of the balance state parameter at the last-time sampling moment before the current moment, a third parameter value of the balance state parameter at the next sampling moment is estimated through combination with control parameter values configured in a current controller; when the relation among the first parameter value, the third parameter value and a preset target parameter value can not meet a preset condition, a control parameter value is selected from the preset control parameter values, the third parameter value is estimated again based on the selected control parameter value, the first parameter value and the second parameter value till the relation among the first parameter value, the currently-estimated third parameter value and the target