Autonomous mobile robot and goods carrying method of using the same

A goods carrying method of making a robot carry goods to a destination from an acquisition source, the robot having an openable and closable gripper for gripping the goods, cameras, and an autonomous mobile means, the method comprising:

• a grip position recognition step of recognizing a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras;
• a grip control step of driving the gripper to the predetermined position of the carrier container and controlling gripping the predetermined position;
• a grip-success-or-not determination step of determining whether or not the gripping is successful, based on an external force acting on the gripper;
• and
• a vibration suppression control step of performing feedback control configured to cancel an external force acting on the gripper during carrying the goods to the destination.