A joint torque computing unit computes joint torque T1 necessary to set a joint angle θ of a joint to a target joint angle ra. A summing unit obtains a sum value U1 representing a sum of generated force command values ue1 and uf1 as to mono-articular driving actuators, based on target stiffness rs of the joint. An elastic torque computing unit obtains elastic torque TPC1 according to elasticity of the mono-articular driving actuators acting on the joint. A restricting unit restricts the total value of the joint torque T1 and the elastic torque TPC1, so as to satisfy restriction conditions of |T1+TPC1|<U1×r, where r represents the moment arm radius of the link. A generated force computing unit computes the generated force command values ue1 and uf1 of the mono-articular driving actuators, based on the total value (T1+TPC1) restricted by the restricting unit.
Robot device, robot control method, program, recording medium, and control device