Patent ID: 8260463

Claim:
A robot system comprising: a hand section having a plurality of fingers, each finger with a hand-section force sensor provided at a distal end thereof; one or more arm sections having the hand section at a distal end thereof; a trunk section having the arm sections and on which a trunk-section force sensor is provided; a camera for measuring a shape of an object; a robot control section for controlling movement of the arm sections; and an image processing section for processing an image acquired by the camera; wherein the robot control section includes: an object information calculating section for calculating, based on image information from the image processing section, a size and shape of the object to be held; a holding method determining section for determining, based on the object information calculated by the object information calculating section, a holding method for holding the object; a holding execution section for executing lifting of the object by the holding method determined by the holding method determining section; a sensor information processing section for processing pieces of sensor information of the hand-section force sensor and the trunk-section force sensor, for making a decision regarding slip and instability based on the sensor information, for selecting the holding method, for controlling a holding force based on the slip and instability decision and the sensor information of the hand-section force sensor if holding by two or more of the plurality of fingers or by the entire hand section, and for controlling an embracing force based on the slip and instability decision and the sensor information of the trunk-section force sensor if holding with the hand section and a portion of the arm sections, the pieces of sensor information being those obtained at a time of the execution; and a holding method correction section for correcting, based on a result of the sensor information processed by the sensor information processing section and the object information calculated by the object information calculating section, the holding method, wherein holding with three fingers of one hand, holding the object with five fingers of one hand, or holding the object entirely with one hand is selected as the holding method in a case where the number of the arm sections provided, having the hand section with five fingers, is one, and wherein holding the object with three fingers of one hand, holding the object with five fingers of one hand, holding the object entirely with one hand, holding the object with entire both hands, or holding the object with the hand section and a portion of both arms is selected as the holding method in a case where the number of the arm sections provided, having the hand section with five fingers, is two.