Grasping device, control method, and program

A control method for a grasping device, the grasping device including:

• a grasping part module including a first surface and a second surface and configured to grasp an object between the first surface and the second surface;
• an arm part configured to change a position of the grasping part module;
• and
• an imaging unit provided at a position that moves together with the grasping part module and configured to capture an image of at least a part of the object,
• the control method comprising:
• a control step of comparing specified amount information indicating a contact state in a case where a specified amount of the object and the first surface are in contact with each other, and information indicating a contact state captured by the imaging unit when the grasping part module grasps at least a part of the object, outputting drive information for driving the grasping part module or the arm part based on the result of the comparison, and controlling at least one of the grasping part module and the arm part such that an amount of the object that is grasped approaches the specified amount.

A program configured to cause a computer connected to a grasping device to execute a control step, wherein

• the grasping device includes:
• a grasping part module including a first surface and a second surface and configured to grasp an object between the first surface and the second surface;
• an arm part configured to change a position of the grasping part module;
• and
• an imaging unit provided at a position that moves together with the grasping part module and configured to capture an image of at least a part of the object, and
• the control step is to compare specified amount information indicating a contact state in a case where a specified amount of the object and the first surface are in contact with each other, and information indicating a contact state captured by the imaging unit when the grasping part module grasps at least a part of the object, output drive information for driving the grasping part module or the arm part based on the result of the comparison, and control at least one of the grasping part module and the arm part such that an amount of the object that is grasped approaches the specified amount.