| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot which can check by itself whether or not a hand thereof accurately grips an object. SOLUTION: In the robot, it is determined whether or not the location and position (external information) of a handle (object) H, based on an image obtained via a camera 102, conforms to the location and position (internal information) of the handle H provided that the handle H is accurately gripped, based on the position of the robot 1 corresponding to output etc. of a rotary encoder 104. Then based on a result of the determination that the external information conforms to the internal information, it is determined whether a gripping state of the handle H is adequate or not, based on a power value detected by a six-axial force sensor 106 provided for each hand 13. COPYRIGHT: (C)2008,JPO&INPIT
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