Robot, robot system, robot control device, and state determining method

摘要

A robot (1100) includes arm (1103L,1103R) and a strain sensor (1122). The strain sensor (1122) includes a piezoelectric body that has a natural frequency higher than a natural frequency of a structural material forming the arm (1103L,1103R). On the basis of an output value of the strain sensor, a control unit determines a predetermined state of the robot.