An actuating apparatus has an actuator including a link having a plurality of joints and a plurality of motors for actuating the joints, and a controller for controlling the actuator. The controller controls the motors with a control torque m_τ_cntrl calculated according to the equation: m_τ_cntrl=M·(I−mEff)−1·(ddθ_cntrl−mEff·ddθ_cntrl—p)+C_cmpn from a target angular acceleration ddθ_cntrl, a preceding target angular acceleration ddθ_cntrl_p, a displaceable member torque response matrix Eff, an inertial matrix M, and a dynamic corrective force C_cmpn.