A dual rotor-type motor according to an embodiment of the present invention comprises: a stator around which a coil is wound; an outer rotor; and an inner rotor, wherein the inner rotor and the outer rotor have different initial angles, and thus the inner rotor and the outer rotor are misaligned from each other corresponding to the difference between the initial angles thereof. Therefore, the present invention can reduce torque ripple by a relatively simple method, and thus can improve efficiency of a motor and reduce vibration and noise.