A two-wheeled inverted robot includes a body, two wheels coaxially arranged on the body, a drive device for driving each of the wheels, a first state detector for detecting at least one of an inclination angle and an inclination angular speed of the body, a second state detector for detecting at least one of a rotation angle and a rotational angular speed of the wheel, a body constraint recognizing device for detecting whether or not body rotation is constrained, and a controller for determining a command value to the drive device. Based on the detection result by the body constraint recognizing device, the controller determines the command value for changing a ratio of a torque contributing to the body rotation.