A joint device for a robot, the joint device comprising: a first shaft; a second shaft disposed perpendicular to the first shaft; a first friction wheel rotatably supported by a first end of the first shaft; a second friction wheel rotatably supported by a second end of the first shaft; a driving device configured to rotate each of the first friction wheel and the second friction wheel; a third friction wheel rotatably supported by a first end of the second shaft, and contacting the first friction wheel and the second friction wheels, wherein when the first friction wheel and the second friction wheel rotate in the same direction, the third friction wheel rotates in a pitch direction, and wherein when the first friction wheel and the second friction wheel rotate in different directions, the third friction wheel rotates in a roll direction, characterized in that: the joint device comprises: a first pressing member configured to press the first friction wheel toward the third friction wheel; a second pressing member configured to press the second friction wheel toward the third friction wheel; a first angular ball bearing interposed between the first shaft and the first friction wheel; and a second angular ball bearing interposed between the first shaft and the second friction wheel, wherein: the first angular ball bearing comprises an inner ring that contacts the first pressing member, and an outer ring that contacts the first friction wheel, and the second angular ball bearing comprises an inner ring that contacts the second pressing member, and an outer ring that contacts the second friction wheel. a first shaft; a second shaft disposed perpendicular to the first shaft; a first friction wheel rotatably supported by a first end of the first shaft; a second friction wheel rotatably supported by a second end of the first shaft; a driving device configured to rotate each of the first friction wheel and the second friction wheel; a third friction wheel rotatably supported by a first end of the second shaft, and contacting the first friction wheel and the second friction wheels, wherein when the first friction wheel and the second friction wheel rotate in the same direction, the third friction wheel rotates in a pitch direction, and wherein when the first friction wheel and the second friction wheel rotate in different directions, the third friction wheel rotates in a roll direction, characterized in that: the joint device comprises: a first pressing member configured to press the first friction wheel toward the third friction wheel; a second pressing member configured to press the second friction wheel toward the third friction wheel; a first angular ball bearing interposed between the first shaft and the first friction wheel; and a second angular ball bearing interposed between the first shaft and the second friction wheel, wherein: the first angular ball bearing comprises an inner ring that contacts the first pressing member, and an outer ring that contacts the first friction wheel, and the second angular ball bearing comprises an inner ring that contacts the second pressing member, and an outer ring that contacts the second friction wheel. a first pressing member configured to press the first friction wheel toward the third friction wheel; a second pressing member configured to press the second friction wheel toward the third friction wheel; a first angular ball bearing interposed between the first shaft and the first friction wheel; and a second angular ball bearing interposed between the first shaft and the second friction wheel, wherein: the first angular ball bearing comprises an inner ring that contacts the first pressing member, and an outer ring that contacts the first friction wheel, and the second angular ball bearing comprises an inner ring that contacts the second pressing member, and an outer ring that contacts the second friction wheel. the first angular ball bearing comprises an inner ring that contacts the first pressing member, and an outer ring that contacts the first friction wheel, and the second angular ball bearing comprises an inner ring that contacts the second pressing member, and an outer ring that contacts the second friction wheel.