PROBLEM TO BE SOLVED: To provide a technology for controlling grip force by determining whether force applied to an article gripped by a robot is caused by a person or something other than the person, and a technology for controlling a robot hand to receive an article from the person by recognizing the article held by the person.;SOLUTION: This robot grip control device comprises: a grip means 111 forming a mechanism for gripping the article; a sensing means 114 for detecting an object (a human being or the like) existing around the grip means 111; an action deriving means 115 for assuming whether there is article delivery action of the object; and a grip force control means 108 for controlling the grip means 111 according to the action assuming result. The action of the object (the human being or the like) around the grip means is assumed, and a control method of the grip means 111 is adjusted, thus action that facilitates article delivery is provided.;COPYRIGHT: (C)2005,JPO&NCIPI
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