Packing apparatus and packing method

A robot comprising:

• a base
• a first arm provided on the base, the first arm having a first end effector;
• a second arm provided on the base, the second arm having a second end effector and a force sensor;
• an imaging device configured to capture an image of an inside of a package, the package having first and second walls opposite to each other, the package being configured to contain an object in the inside of the package;
• a memory storing computer-readable instructions;
• and
• a processor executing the computer-readable instructions to control the robot to:
• cause the imaging device to capture the image including the package and the object;
• perform a first operation to position the first and second end effectors between the object and the second wall;
• after the first operation, perform a second operation to contact the object with the first end effector by moving the first end effector toward the first wall;
• after the second operation, perform a third operation to move the object toward the first wall with the first end effector so that the object will be placed in contact with the first wall;
• and
• after the third operation commences, perform a fourth operation to move the second wall into contact with the second end effector and when the force sensor detects a force applied to the second end effector that is equal to or larger than a threshold value, the processor causes the first end effector to stop moving.