Arm control apparatus, arm control method, arm control program, robot, and integrated electronic circuit for arm control

摘要

There is provided a display information acquiring unit for acquiring display information on a screen of a touch panel display, a touch pattern estimating unit for estimating a region on the screen likely to be touched by a person and a motion direction of the touch based on the display information, a load estimating unit for estimating a load or a torque to the display based on the estimated region and the motion direction, a stiffness parameter information generating unit for generating information for controlling the arm so that the position and the orientation of the display do not change along the touching direction at the time of touch panel input based on the estimated load or torque, and an arm control unit for controlling a stiffness parameter of the arm based on the generated information.