A robot or the like capable of checking by itself whether an object is
properly grasped by a hand or not is provided.
It is determined whether or not the position and posture of a handle
(object) determined based on an image obtained by a camera (external
information) and the position and posture of the handle in the case where
the handle is assumed to be properly grasped, which are determined from
the posture of a robot based on an output or the like of a rotary encoder
(internal information), agree with each other. In response to
determination that the external information and the internal information
agree with each other, it is determined whether the handle is properly
grasped or not based on a force detected by a six-axis force sensor
provided on each hand.