An assistant robot in which a small-size actuator can be used is provided. One of a lifting and lowering section (40, 240, 340, or 440) and a holding section (50, 250, 350, or 450) includes guide paths (53, 253, 342, 343, and 451a) which guide the holding section (50, 250, 350, or 450) to move in a forward, backward, and inclined manner with respect to the lifting and lowering section (40, 240, 340, or 440). The other one includes a guided member (43, 243, 352, 353, 443, or 444) which moves along the guide path (53, 253, 342, 343, or 451a) .
