Patent ID: 8335591

Claim:
A robot apparatus for grasping an object, the robot apparatus has a multi-link structure including a plurality of links and joints serving as link movable sections, and in which at least some of the links are driven by combination of position control and force control, the robot apparatus comprising: position control means for performing, prior to contact with the object, the position control on the links, which are driven by the combination of position control and force control; position control with force constraint means for placing the force control before the position control upon contact with the object to be grasp so as not to cause a magnitude of an external force on the object to exceed a set value even if the position control is performed on the links; force control means for performing the force control on the links after contact with the object; and integrated force/position control means for controlling driving of the joints by switching between the position control means, the position control with force constraint means, and the force control means, and unifying the position control and the force control.