ROBOT, AND ROBOT CONTROL METHOD

PROBLEM TO BE SOLVED: To embody a robot capable of gripping an object without surely grasping a shape and the like of the object to be gripped. SOLUTION: This robot gripping an object comprises a hand part having at least two fingers, a group of contact sensors arranged to each finger and detecting the contact between a predetermined portion of each of the fingers and a gripping object, prediction means for inputting shape information describing at least a shape of the gripping object and predicting a group of signals outputted from the group of the contact sensors when the hand part grips the gripping object, and hand control means for controlling actions of each of the fingers in a manner that the group of the signals outputted from the group of the contact sensors is equal to the group of the signals predicted by the prediction means. COPYRIGHT: (C)2007,JPO&INPIT