Patent ID: 8401702

Claim:
A robot comprising: a base unit; a body unit; a body unit shifting mechanism that connects the base unit to the body unit so as to relatively shift the body unit relative to the base unit; a robot arm that is disposed on the body unit, and has a plurality of links and joint lock mechanisms capable of respectively mechanically securing a joint coupling the plurality of links to one another and a joint coupling one of the plurality of links and the body unit; an actuator for the robot arm, that drives the joint of the robot arm so as to drive to pivot the plurality of links; an actuator for a waist joint, that drives the body unit through the body unit shifting mechanism so as to relatively shift relative to the base unit; actuators for the joint lock mechanisms, that drive the joint lock mechanisms; an external force detection device that is installed in the robot arm and detects an external force applied to the robot arm by an operator; and a robot operation control unit that, based upon the external force detected by the external force detection device, carries out control operations of impedance control of one of the robot arm and the body unit shifting mechanism and position control of the other one of the robot arm and the body unit shifting mechanism while successively switching between the robot arm and the body unit shifting mechanism, and upon carrying out the impedance control on the body unit shifting mechanism, brings the joint lock mechanism of the robot arm into a secured state.