An avatar robot system designed for the ANA Avator XPrize competition. The robot was designed to reflect the height of an adult male. The robot’s name, 도깨비(Tocabi : goblin), is a tall, strong, and helpful creature in Korean fairy tales. It reflects the wishes of the creators for a world where humanoid robots help humans and coexist. It is characterized by having a high degree of freedom in each of the arms with 8 degrees of freedom. The large work space resulting from this is a great advantage of robots.