Control apparatus, robot control system, and method for controlling robot

Abstract

A control apparatus includes a hand controller that controls a hand capable of grasping an object to be grasped and including a plurality of sensors. The hand controller is configured to be able to obtain information regarding grasping force acting on the object to be grasped from the hand or information regarding a moment acting on the object to be grasped in the hand, the information regarding the grasping force and the information regarding the moment being based on outputs of the plurality of sensors. The hand controller estimates, on a basis of the information regarding the grasping force or the information regarding the moment, a grasping state in which the hand is grasping the object to be grasped.

Dependencies are inferred from the claim text.