The invention relates to an exoskeleton walk-assisting robot for old people and a bionic control method for anti-falling gaits. The exoskeleton walk-assisting robot comprises exoskeleton trunk components, joint components, an action control unit, an auxiliary unit and a power supply, wherein the exoskeleton trunk components are connected to a lower body of a user and assist the user to complete stand and walking actions; the joint components are connected with the exoskeleton trunk components and enable the exoskeleton trunk components to bend and stretch; the action control unit is capable of acquiring acceleration and angular speed signals during walking of the robot in real time, processing the signals and generating corresponding motion signals so as to control actions of the exoskeleton trunk components and to finish motion generation and reverse solution; and the power supply provides energy for the whole device. The exoskeleton walk-assisting robot for the old people is compact in structure, good in control effect, capable of acquiring accelerations in three directions and angular speeds in two directions in real time and judging falling states of the exoskeleton walk-assisting robot comprehensively, integrated with a posture reflex mechanism of human bodies and suitable for unknown unstructured complex terrains.