Patent ID: 8185243

Claim:
A robot comprising: a robot arm that is driven by an elastic body actuator and has a plurality of joints; an arm-end supporting member that is placed near a wrist portion of the robot arm on a base side from the wrist portion, and supports the arm-end portion of the robot arm by making in contact with a supporting surface of the robot arm; and a control unit that controls a position and an orientation of the arm-end portion of the robot arm and controls a force by which the arm-end supporting member and the supporting surface are made in contact with each other, wherein the control unit (i) controls the force in a manner so as to press the arm-end supporting member onto the supporting surface to stop the position of the arm-end portion of the robot arm, and then controls the orientation of the arm-end portion, and (ii) carries out a force control by using a pressing force that is smaller than the force controlled upon moving the orientation of the arm-end portion so that the position of the arm-end portion is shifted.