| 摘要 |
A robot or the like capable of checking by itself whether an object is properly grasped by a hand or not is provided. It is determined whether or not the position and posture of a handle (object) determined based on an image obtained by a camera (external information) and the position and posture of the handle in the case where the handle is assumed to be properly grasped, which are determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to determination that the external information and the internal information agree with each other, it is determined whether the handle is properly grasped or not based on a force detected by a six-axis force sensor provided on each hand.
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