Control apparatus, robot apparatus, control method and program for a robot apparatus

A robot apparatus, comprising:

• a first pressure distribution sensor arranged on a gripping surface of a first hand;
• a second pressure distribution sensor arranged on a gripping surface of a second hand;
• a control circuit including
• an acquisition unit that acquires an output of the first pressure distribution sensor and an output of the second pressure distribution sensor,
• an operation command generation unit that generates a first gripping command for causing the second hand to grip a first predetermined portion of the flexible thin object gripped by the first hand and a first movement command for moving the second hand relative to the flexible thin object in a predetermined direction from the first predetermined portion while keeping a gripping operation of the flexible thin object by the second hand, and
• a determination unit that determines whether or not the second hand reaches an end portion of the flexible thin object on a basis of the output of the second pressure distribution sensor.

A control method for a robot apparatus, comprising:

• causing a second hand to grip a first predetermined portion of the flexible thin object gripped by a first hand;
• moving the second hand relative to the flexible thin object in a predetermined direction from the first predetermined portion while keeping a gripping operation of the flexible thin object by the second hand;
• and
• determining whether or not the second hand reaches an end portion of the flexible thin object on a basis of the output of a second pressure distribution sensor arranged on a gripping surface of the second hand.

A program that causes a control apparatus of a robot apparatus to execute:

• a step of causing a second hand to grip a first predetermined portion of the flexible thin object gripped by a first hand;
• a step of moving the second hand relative to the flexible thin object in a predetermined direction from the first predetermined portion while keeping a gripping operation of the flexible thin object by the second hand;
• and
• a step of determining whether or not the second hand reaches an end portion of the flexible thin object on a basis of the output of a second pressure distribution sensor arranged on a gripping surface of the second hand.