Grasping device, grasping judgment method and grasping judgment program

摘要

A grasping apparatus brings a hand unit to a standstill after performing a grasping motion for a target object that deforms when being grasped, performs a determination operation of making an arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover a specific spot, and determines that the hand unit has successfully grasped the target object when an observation unit can no longer observe the specific spot after starting the determination operation.