To provide a
robot that is able to properly consume regenerative power of a motor while improving back drivability.SOLUTION: A
robot 1, which includes at least one joint 4, a motor 7 that operates the joint 4, and a power supply 5 that supplies
electric power for driving the motor 7, has regenerative circuits 8, 9 that receive and consume regenerative
electric power generated when the motor 7 is operated by the external force. The regenerative circuits 8, 9 are configured to be switched between at least two states that are a first regeneration state and a second regeneration state different from each other in an amount of
power consumption. The
robot further includes: detection means 11, 12 configured to detect a
voltage of the power supply 5; and regeneration
state switching means configured to set the regenerative circuits 8, 9 to the first regeneration state when the detected
voltage of the power supply 5 is a first predetermined value, and to set the regenerative circuits to a second regeneration state when the detected
voltage of the power supply 5 is a second predetermined value larger than the first predetermined value.SELECTED DRAWING: Figure 2