An image forming apparatus including: a photoreceptor for bearing a toner image; a transfer body onto which the toner image borne by the photoreceptor is transferred; a drive section for driving the photoreceptor and transfer body respectively, and a control section for controlling the drive section so as to drive the photoreceptor and transfer body at a predetermined driving speed, wherein the control section, under a state in which the control section controls to drive the transfer body at the predetermined driving speed, controls to: a) drive the photoreceptor while changing the driving speed of the photoreceptor within a range of driving speeds between low speed and high speed, including the predetermined driving speed, b) extract torque characteristics under the control which includes the change of driving speed of the photoreceptor, and c) determine the driving speed of the photoreceptor based on the extracted torque characteristics.