Robot

A robot, comprising:

• a plurality of joints, each joint being configured to rotate about an axis line, a robot constitution component extending between at least two joints;
• a torque sensor configured to detect a torque about the axis line of a target joint, the torque including a torque acting around the axis line of the target joint by inertia force of the robot constitution component, which occurs due to a movement of the robot, and a weight of the robot constitution component;
• an encoder configured to detect information related to a rotation angle about the axis line of all or part of the plurality of joints, the part of the plurality of joints including the target joint and at least one joint other than the target joint;
• and
• a processor comprising hardware, the processor being configured to:
• estimate a change amount of the torque detected by the torque sensor due to a load other than the torque about the axis line of the target joint based on the detected information of all or part of the plurality of joints, the load including a load acting on the target joint by the inertia force and the weight of the robot constitution component;
• and
• correct the torque detected by the torque sensor by using the estimated change amount to calculate the torque about the axis line of the target joint to drive the target joint based on the calculated torque and a motor torque command value.