CONTROL DEVICE, ROBOT, CONTROL METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a control device for appropriately changing the shape of a control object by operation of a user to a surface of the control object having a plurality of joints.

SOLUTION: In this control device 101, a rotation angle acquisition unit 102 acquires a rotation angle q of a joint of a rod-like body possessed by an operation object. A contact angle acquisition unit 103 acquires a contact angle s from the output of a contact position sensor installed around the rod-like body. A sum calculation unit 104 calculates the sum (q+s) of the rotation angle q and the contact angle s. An output unit 105 outputs a control signal for increasing/decreasing a flexion angle or swing-up angle of the joint of the rod-like body in accordance with which angle range the sum (q+s) belongs to.

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