An object of the present invention is to provide an assistance robot capable of supporting the sitting operation of the person being assisted in response to various usage conditions. In the operation processing based on the seating locus in the assistance robot, the holding member is lowered or raised to a fixed seating position that is a predetermined height from the floor surface and the buttock of the person being assisted is positioned above the seating surface, and the holding member is A retreating process for retreating and a descending process for lowering the holding member from the fixed seating position until the person being assisted sits down on the seating surface are included.種々の使用状態に対応して、被介助者の着座動作を支援可能な介助ロボットを提供することを目的とする。 介助ロボットにおける着座軌跡に基づく動作処理には、床面から規定の高さであり且つ座面の上方に被介助者の臀部が位置する固定着座位置まで保持部材を下降または上昇させるとともに保持部材を後退させる後退工程と、固定着座位置から被介助者が座面に着座するまで保持部材を下降させる下降工程と、が含まれる。
