Posture control apparatus, holding apparatus, posture control method, and program

A posture control apparatus, comprising

• a control unit that determines, on a basis of a static acceleration component, a gravity direction in an object to be held by a holding apparatus, the static acceleration component being computed on a basis of a first acceleration detection signal and a second acceleration detection signal, the first acceleration detection signal being acquired by detecting a dynamic acceleration component acting on the object to be held, the second acceleration detection signal being acquired by detecting the dynamic acceleration component and the static acceleration component acting on the object to be held, and controls, by controlling posture of the holding apparatus on a basis of the gravity direction, posture of the object to be held.

A holding apparatus, comprising:

• a detection unit that outputs a first acceleration detection signal and a second acceleration detection signal, the first acceleration detection signal being acquired by detecting a dynamic acceleration component acting on a holding apparatus holding an object to be held, the second acceleration detection signal being acquired by detecting the dynamic acceleration component and a static acceleration component acting on the holding apparatus;
• and
• a control unit that determines, on a basis of the static acceleration component computed on a basis of the first acceleration detection signal and the second acceleration detection signal, a gravity direction in the holding apparatus, and controls, by controlling posture of the holding apparatus on a basis of the gravity direction, posture of the object to be held.

A posture control method, comprising:

• determining, on a basis of a static acceleration component, a gravity direction in a holding apparatus holding an object to be held, the static acceleration component being computed on a basis of a first acceleration detection signal and a second acceleration detection signal, the first acceleration detection signal being acquired by detecting a dynamic acceleration component acting on the holding apparatus, the second acceleration detection signal being acquired by detecting the dynamic acceleration component and the static acceleration component acting on the holding apparatus;
• and
• controlling, by controlling posture of the holding apparatus on a basis of the gravity direction, posture of the object to be held.

A program that causes a computer to execute the steps of:

• determining, on a basis of a static acceleration component, a gravity direction in a holding apparatus holding an object to be held, the static acceleration component being computed on a basis of a first acceleration detection signal and a second acceleration detection signal, the first acceleration detection signal being acquired by detecting a dynamic acceleration component acting on the holding apparatus, the second acceleration detection signal being acquired by detecting the dynamic acceleration component and the static acceleration component acting on the holding apparatus;
• and
• controlling, by controlling posture of the holding apparatus on a basis of the gravity direction, posture of the object to be held.