PROBLEM TO BE SOLVED: To provide an assistance robot making an assistance receiver stand up or sit down without providing a feeling of discomfort.SOLUTION: An assistance robot 20 is so configured that, in a case of making an assistance receiver M1 stand up, a standup trajectory Tas1 on which a movement control part Ps of the assistance receiver M1 passes is so set as to place a position G of the center of gravity of the assistance receiver M1 within a range A of both foot soles of the assistance receiver from an early time point after starting a standup movement, the movement of making the assistance receiver M1 stand up till a termination time of the standup movement. In a case of making the assistance receiver M1 sit down, a sitdown trajectory Tbs1, the trajectory different from the standup trajectory Tas1, on which the movement control part Ps of the assistance receiver M1 passes is so set as to deviate the position G of the center of gravity of the assistance receiver M1 from the inside of the range A of both foot soles of the assistance receiver M1 and move it to a planned sitdown position side of the assistance receiver M1, from an early time point after starting a sitdown movement, the movement of making the assistance receiver M1 sit down.SELECTED DRAWING: Figure 10【課題】被介助者に違和感を与えることなく、起立させたり着座させたりする介助ロボットを提供する。【解決手段】介助ロボット２０は、被介助者Ｍ１を起立させる場合において、被介助者Ｍ１の移動制御部位Ｐｓが通過する起立軌跡Ｔａｓ１は、被介助者Ｍ１を起立させる動作である起立動作の開始時点以降の早い時点から起立動作の終了時点までの間において被介助者Ｍ１の重心位置Ｇが被介助者の両足の裏の範囲Ａ内に存在するように設定され、被介助者Ｍ１を着座させる場合において、起立軌跡Ｔａｓ１と異なる軌跡であって被介助者Ｍ１の移動制御部位Ｐｓが通過する着座軌跡Ｔｂｓ１は、被介助者Ｍ１を着座させる動作である着座動作の開始時点以降の早い時点から被介助者Ｍ１の重心位置Ｇが被介助者Ｍ１の両足の裏の範囲Ａ内から外れ被介助者Ｍ１の着座予定位置側に移動するように設定されている。【選択図】 図１０
