To provide a multi-articulated antagonistic control manipulator capable of satisfying both degree of freedom and accuracy in control and a control speed by taking advantage of muscle skeleton-based control characteristic of a human, and the method of controlling the same.

The multi-articulated manipulator includes a central control device 10 and a multi-articulated manipulator body 16. The multi-articulated manipulator body 16 includes an artificial skeleton 18, muscle wires 20-30, and motors 32, 34 for controlling the muscle wires. The muscle wires 20-30 are composed of two-joint muscle wires 20, 22 and one-joint muscle wires 24-28. The central control device 10 performs a combination antagonistic control of the motor for controlling the one-joint muscle and the motor for controlling the two-joint muscle by the control function stored in a storage device.