A robot system including a force-controlled pushing device which causes, when a robot is guided and moved, an object provided at a tip end of the robot to be brought into appropriate contact with another object. The robot system includes the robot, the force-controlled pushing device, a robot operation input measuring part, a robot movement command calculating part, a pushing direction setting part, a target pushing force setting part, a force measuring part, and a force-controlled pushing device movement command calculating part. The pushing direction setting part sets a pushing direction of the force-controlled pushing device, based on at least one of: the position/orientation of the first object; a force-controlled pushing device movement command for moving the first object; the position/orientation of the movement mechanism part of the force-controlled pushing device; the position/orientation of the robot; and a robot movement command for moving the robot.