| 摘要 |
A robot apparatus (100) includes a robot arm (10), a multi-fingered hand (20) disposed at an end of the robot arm (10) and including a force sensor (21a,22a,23a) for use in force control, an image processor (43) that acquires at least location information on a gripping target (110) by detection made by a visual sensor (30), and a control device (40) that moves the robot arm (10) on the basis of the at least location information on the gripping target (110) acquired by the image processor (43) to cause the multi-fingered hand (20) to approach the gripping target (110), detects a contact location of actual contact with the gripping target (110) on the basis of an output of the force sensor (21a,22a,23a) of the multi-fingered hand (20), and modifies the location information on the gripping target (110) on the basis of information indicating the detected contact location. |
